JPH061224B2 - Surface pressure distribution detector - Google Patents

Description

The present invention relates to a surface pressure distribution detecting device for detecting a surface pressure distribution state.

[Prior Art] Conventionally, in the case of measuring a pressure that is two-dimensionally distributed moment by moment, pressure transducers such as a load cell are arranged in a matrix,
It is measured by scanning the output of those load cells.

However, the two-dimensional pressure distribution measurement using a load cell as the pressure converter has the following drawbacks. That is, the load cell is highly rigid, and therefore, one-point measurement is the basic, and the load of the portion other than the position where the load cell is arranged is not considered. The load cell stiffness affects the local pressure distribution. However, the pressure distribution between load cells is basically unknown.

In order to eliminate such drawbacks, it is sufficient to arrange a very large number of load sails in a matrix corresponding to the density of measurement points. However, arranging a large number of load cells only leads to a complicated mechanical structure. Inevitably, the signal processing device for processing the output signal from each load cell is significantly complicated.

[Problems to be Solved by the Invention] An object of the present invention is to provide a large number of pressure transducers, which have flexibility, and which can detect the total load distribution applied to the sensor and the central position of the load distribution. An object of the present invention is to provide a surface pressure distribution detecting device capable of measuring the surface pressure distribution state with higher accuracy than in the case where the surface pressure sensor is used and the same number of load cells as the surface pressure sensors are arranged.

[Means for Solving the Problems] In order to achieve the above object, the detection device of the present invention includes a large number of flexible surface pressure sensors capable of detecting the total load distribution applied to the sensor and the center position of the load distribution. By arranging in a matrix form a surface pressure detector, the detector calculates the sum of the load distribution and the center of gravity of the load distribution for each sensor based on the output signal of each sensor, and also for each sensor. It is configured by connecting an arithmetic unit for obtaining a pressure direction vector representing the positional relationship between the center position and the center of gravity of the load distribution for each.

[Operation] When an appropriate distribution of surface pressure acts on the surface pressure detector, each surface pressure sensor constituting the detector outputs a signal corresponding to the surface pressure, and these output signals are sent to the arithmetic unit. Then, the sum total of the load distribution and the position of the center of gravity of each surface pressure sensor are calculated. Further, in the above-mentioned arithmetic device, a pressure direction vector is calculated for each pressure sensor from its center position to the gravity center position of the load distribution.

When the sum of the pressure direction vector and the load distribution of each pressure sensor is used, the surface pressure sensor itself has flexibility and is suitable for measuring the surface pressure distribution. It is possible to accurately know the pressure distribution state applied to the entire detector.

EFFECTS OF THE INVENTION According to the present invention, the total of the load distribution applied to each of the arranged sensors and the total of the load distribution of each sensor are used by using a flexible surface pressure sensor capable of detecting the position of the center of gravity of the load distribution. Also, since the pressure direction vector that represents the positional relationship between the center position of each sensor and the center of gravity of the load distribution is determined, it is more accurate than when the same number of load cells as the surface pressure sensor are arranged. Moreover, compared to the case where the number of load cells is increased to enable measurement with the same accuracy, the surface pressure distribution state can be measured by a very simple calculation.

[Embodiment] The surface pressure distribution detecting device of FIG. 1 showing an embodiment of the present invention is
Multiple flexible surface pressure sensors arranged in a matrix
It has 1,1, ... Each surface pressure sensor 1 is configured to be able to detect the sum of the load distribution applied to the sensor itself and the position of the center of gravity of the load distribution. For example, JP-A-58-17330
It is possible to use a sensor having a configuration as shown in the bulletin.

A structural example of the surface pressure sensor 1 will be described with reference to FIG. 2. The surface pressure sensor 1 shown in FIG. 2 includes a first layered planar resistor 2 made of a highly conductive flexible material and a pressure applied from the outside. The pressure sensing plate 3 of the second layer made of a pressure sensitive conductive rubber or the like whose conductance changes substantially linearly by the action of, and the planar resistor of the third layer formed of the same material as the conductive plate 2 of the first layer. 4 has a three-layer structure, which basically has a square planar shape, and the conductive plate 2 of the first layer is provided with electrodes 5 and 6 on a pair of opposite sides in the x direction. , The third-layer planar resistor 4 has electrodes 7 and 8 on a pair of opposite sides in the y direction.
Is provided.

The numerous surface pressure sensors 1 having such a configuration include
Based on the output signal of each surface pressure sensor 1, the total load distribution applied to them and the center of gravity position of the load distribution are calculated, and at the same time, the positional relationship between the center position of each sensor and the center of gravity of the load distribution is expressed. An arithmetic unit 9 (FIG. 1) for calculating the pressure direction vector is connected.

As shown in FIG. 2, the arithmetic unit 9 applies a voltage + a to the electrodes 5 and 6 at both ends of the conductive plate 2 of the first layer in each surface pressure sensor 1 through a resistor R, respectively. The electrodes 7 and 8 at both ends of the conductive plate 4 of the layer are connected so as to apply a voltage -a via a resistance R, respectively, and the electrodes 5 and 6 when an appropriately distributed surface pressure acts on the surface pressure sensor 1. Voltage of V _A , V
_B and the voltages V _C and V _D of the electrodes 7 and 8 are taken out, and those voltages are taken.
It connects the various arithmetic unit for calculating the sum and the center of gravity position of the load distribution based on V _A ~ _VD. These calculators
In order to obtain the sum W of the load distribution and the coordinates x and y of the barycentric position based on the voltages of the electrodes 5 to 8, W = k ₀ (2a−V _A −V _B ). (1) (However, (k ₀ is a constant) Is performed.

Further, the arithmetic unit 9 includes the surface pressure sensors 1, 1, ...
・ Pressure direction vector from the mechanical center position to the gravity center position of the load distribution obtained as described above An arithmetic unit is provided to calculate ,.

When an appropriate surface pressure is applied to the matrix-shaped surface pressure sensors 1, 1, ... In the detection device having the above configuration, each surface pressure sensor 1, 1 ,. Output _{A to} V _D respectively. These output voltages are sent to the arithmetic devices 9 connected to the surface pressure sensors 1, 1, ..., And in these arithmetic devices 9, the surface pressure sensors 1, 1 ,.
・ At the same time the total load distribution and its center of gravity are calculated, the mechanical center position and load distribution of each surface pressure sensor 1,1, ... Pressure direction vector connecting both positions to represent the positional relationship with the center of gravity Is calculated.

FIG. 3 and FIG. 4 are summations of load distributions and pressure direction vectors obtained by the arithmetic operation in the arithmetic unit 9. For specifically explaining d and the like, and if the load w acts on the surface pressure sensor 21 in a distribution as shown in FIG. 4, the load distribution of the load distribution Sum Since the mechanical center position O of the surface pressure sensor 21 is known, the pressure direction vector can be obtained by obtaining the gravity center position G of the load distribution. Can be obtained.

5 and 6 exemplify the pressure distribution and the pressure direction vector obtained when the surface pressure is applied to the surface pressure sensor group shown in FIG. 1, and FIG. 5 shows the unimodal pressure distribution. 6 shows the case of a bimodal pressure distribution. In both figures, the contour-shaped curve connects the parts where the total sum of the load distributions is equal, and the multiple arrows indicate the pressure direction vector in each surface pressure sensor. Indicates.

As is clear from this, by observing the total load distribution and the pressure direction vector for each surface pressure sensor 1, 1, ..., Obtained by the surface pressure detection device of the present invention,
The pressure distribution state can be known very clearly.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an embodiment of the present invention, FIG. 2 is a perspective view of a surface pressure sensor, FIGS. 3 and 4 are explanatory diagrams of surface pressure information obtained by the present invention, FIG. Sixth
The figure is an explanatory diagram of the sum of load distributions in different pressure distribution states and the sum of load distributions in the pressure direction fabric state and the pressure direction vector. 1 ... Surface pressure sensor, 9 ... Computing device, ..Sum of load distribution, ..Center of gravity of load distribution, ..Pressure direction vector

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Masatoshi Ishikawa, 1-4, Higashi 1-4, Yatabe-cho, Tsukuba-gun, Ibaraki Prefectural Institute of Industrial Science (56) Reference Japanese Patent Laid-Open No. 60-93933 (JP, A) Kai 58-17330 (JP, A) JP 56-147003 (JP, A) JP 56-142430 (JP, A)

Claims (1)

[Claims] 1. A surface pressure detector is constructed by arranging a large number of flexible surface pressure sensors capable of detecting the total load distribution applied to the sensor and the center position of the load distribution in a matrix form, and the detector described above. In addition, the total of the load distribution of each sensor and the center of gravity of the load distribution are calculated based on the output signal of each sensor, and the pressure that represents the positional relationship between the center position of each sensor and the center of gravity of the load distribution is calculated. A surface pressure distribution detecting device, characterized in that an arithmetic device for obtaining a direction vector is connected.