JPS6037401B2 - Method for detecting center of gravity position of surface pressure - Google Patents
Method for detecting center of gravity position of surface pressureInfo
- Publication number
- JPS6037401B2 JPS6037401B2 JP5091880A JP5091880A JPS6037401B2 JP S6037401 B2 JPS6037401 B2 JP S6037401B2 JP 5091880 A JP5091880 A JP 5091880A JP 5091880 A JP5091880 A JP 5091880A JP S6037401 B2 JPS6037401 B2 JP S6037401B2
- Authority
- JP
- Japan
- Prior art keywords
- layer
- pressure
- electrodes
- sheet resistor
- center
- 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
- 230000005484 gravity Effects 0.000 title claims description 13
- 238000000034 method Methods 0.000 title description 5
- 239000000463 material Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Testing Of Balance (AREA)
Description
【発明の詳細な説明】
本発明は、面圧力の重心位置検出方法に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting the center of gravity position of surface pressure.
一般に、平面上に作用する圧力分布の重心位置は、その
平面上の圧力分布を測定してその圧力分布から所要の演
算を行うことにより求めることができ、また上記圧力分
布は例えばその平面上におけるマトリックス状の多数点
の圧力をそれぞれ検出するなどの手段によって測定する
ことができる。In general, the position of the center of gravity of a pressure distribution acting on a plane can be found by measuring the pressure distribution on that plane and performing the necessary calculations from that pressure distribution. It can be measured by means such as detecting the pressure at multiple points in a matrix.
しかしながら、このような方法による測定では、その装
置が非常に複雑で高価なものになる。However, measurement using such a method requires very complicated and expensive equipment.
本発明は、このような問題を解決し、極めて簡単な装置
により面圧力の重心位置を容易に検出可能とした重心位
置検出方法を提供するものである。また、本発明は単に
直角座標系ばかりでなく、座標軸が湾曲したＸＹ座標系
等においても圧力の重心位置を検出できる重心位置検出
方法を提供するものである。The present invention solves these problems and provides a method for detecting the center of gravity position of surface pressure by using an extremely simple device. Further, the present invention provides a barycenter position detection method that can detect the barycenter position of pressure not only in a rectangular coordinate system but also in an XY coordinate system with curved coordinate axes.
図面を参照して本発明の方法について詳述するに、第１
図において、本発明に基づく圧力検出に用いる圧力検出
器１は、導電性の高い可操性物質からなる第１層の面状
抵抗体２と、外部からの圧力の作用でコンダクタンスが
変化する感圧導電性ゴム等からなる第２層の感圧板３と
、上記第１層の面状抵抗体２と同様な材料によって形成
した第３層の面状抵抗体４とによって三層構造に形成し
たもので、これらは基本的に正方形の平面形状を有し、
その周辺の４辺において、第１層の面状抵抗体２にはそ
のｘ方向の相対向する一対の対辺に電極５，６を設け、
第３層の面状抵抗体にはｙ方向の相対向する一対の対辺
に電極７，８を設けている。The method of the present invention will be described in detail with reference to the drawings.
In the figure, a pressure detector 1 used for pressure detection according to the present invention includes a first layer of sheet resistor 2 made of a highly conductive and maneuverable material, and a sensor whose conductance changes due to the action of external pressure. A three-layer structure was formed by a second layer of pressure sensitive plate 3 made of piezoconductive rubber or the like, and a third layer of sheet resistor 4 made of the same material as the first layer sheet resistor 2. These basically have a square planar shape,
On the four peripheral sides, the first layer sheet resistor 2 is provided with electrodes 5 and 6 on a pair of opposing sides in the x direction,
The third layer of sheet resistor is provided with electrodes 7 and 8 on a pair of opposite sides in the y direction.
このような構成を有する圧力検出器１は、第１層の面状
抵抗体２の両端の電極５，６にそれぞれ抵抗ｒを介して
電圧＋Ｑを負荷し、また第３層の面状抵抗体４の両端の
電極７，８にそれぞれ抵抗ｒを介して電圧−ｑを負荷す
るように接続し、圧力検出器１上に力が作用したときの
電極５，６の電圧Ｖ＾，ＶＢ、及び電極７，８の電圧Ｖ
ｃ，Ｖｏを取出す。The pressure detector 1 having such a configuration applies a voltage +Q to the electrodes 5 and 6 at both ends of the sheet resistor 2 in the first layer through a resistor r, and applies a voltage +Q to the electrodes 5 and 6 at both ends of the sheet resistor 2 in the first layer. The voltages V^, VB, and VB of the electrodes 5 and 6 when a force is applied to the pressure detector 1 are Voltage V of electrodes 7, 8
Take out c, Vo.
第２図は上記各電極の電圧に基づいて重心位置の座標（
ｘ，ｙ）のうちのｘを求めるための回路構成を示し、電
極５，６の電圧Ｖ＾，ＶＢを加算回路１１及び減算回路
１２に導き、それらの出力を割算回路１３に導くことに
より重心位置の座標値ｘを出力させるものである。Figure 2 shows the coordinates of the center of gravity (
The circuit configuration for determining x out of This outputs the coordinate value x of the center of gravity position.
従って、座標値ｘは、Ｘ＝株テ鍔 （但し、ｋ‘ま定数） の演算によって求めることになる。Therefore, the coordinate value x is (However, k'ma constant) It is determined by the calculation.
また、座標値ｙについても、上記第２図と全く同一の回
路構成により、ｙ＝株ラ羊
の演算で求められる。Further, the coordinate value y is also determined by the calculation of y=shared using the same circuit configuration as in FIG. 2 above.
このような重心位置の検出は、圧力検出器１における第
１層及び第３層の面状抵抗体２，４における電圧がそれ
ぞれほぼ一定で、感圧板３の力に対するコンダクタンス
変化が線形であるような範囲内にある場合、圧力検出器
１の上面に力が作用したときに、支＝÷守亨合憲生▽：
ララミラ舎藻穿き
（但し、″ま力）
によって力の重心位置を求めるものである。Detection of such a center of gravity position is carried out so that the voltages at the first and third layer sheet resistors 2 and 4 in the pressure detector 1 are approximately constant, and the change in conductance with respect to the force of the pressure sensitive plate 3 is linear. If the force is within the range, when a force is applied to the top surface of the pressure detector 1, the support = ÷ Moritaka Gokensei ▽:
The position of the center of gravity of the force is determined by Laramirashamoki (however, ``mariki'').
以上においては、圧力検出器の平面検出器の平面形状を
正方形として直角座標系における重心位置の座標を求め
る場合について説明したが、その圧力検出器の平面形状
を単に変形させることにより、変形された座標系におけ
る重心位置を求めることもできる。以上に詳述したよう
に、本発明によれば簡単な装置を用いて任意座標系にお
ける面圧力の重心位置を容易に検出することができる。In the above, we have explained the case where the coordinates of the center of gravity position in the rectangular coordinate system are determined by assuming that the plane shape of the plane detector of the pressure detector is a square. It is also possible to find the center of gravity position in the coordinate system. As described in detail above, according to the present invention, the position of the center of gravity of surface pressure in an arbitrary coordinate system can be easily detected using a simple device.
第１図は本発明に基づいて重心位置の検出を行うための
圧力検出器の斜視図、第２図は上記圧力検出器に接続す
る演算回路の構成図である。
１・・・圧力検出器、２，４・・・面状抵抗体、３・・
・感圧板、５，６，７，８・・・電極、ｒ・・・抵抗。
第１図第２図FIG. 1 is a perspective view of a pressure detector for detecting the position of the center of gravity according to the present invention, and FIG. 2 is a configuration diagram of an arithmetic circuit connected to the pressure detector. 1... Pressure detector, 2, 4... Planar resistor, 3...
・Pressure plate, 5, 6, 7, 8...electrode, r...resistance. Figure 1 Figure 2
Claims (1)
体と、圧力の作用でコンダクタンスが変化する第２層の
感圧板と、導電性の高い第３層の面状低抗体とによつて
構成した圧力検出器を用い、上記圧力検出器における周
辺を相対向する二対の対辺に分割区画し、第１層の面状
抵抗体における相対向する一対の対辺に設けた電極と第
３層の面状抵抗体における他の相対向する一対の対辺に
設けた電極との間にそれぞれ抵抗を介して電圧を加え、
第１の面状抵抗体における一対の電極の電圧Ｖ＿Ａ，Ｖ
＿Ｂ及び第２の面状抵抗体における一対の電極の電圧Ｖ
＿Ｃ，Ｖ＿Ｄに基づき、重心位置の座標（ｘ，ｙ）を、
ｘ＝ｋ（Ｖ＿Ａ−Ｖ＿Ｂ）／（Ｖ＿Ａ＋Ｖ＿Ｂ）ｙ＝ｋ
（Ｖ＿Ｃ−Ｖ＿Ｄ）／（Ｖ＿Ｃ＋Ｖ＿Ｄ） （但し、ｋ
は定数）によつて求めることを特徴とする面圧力の重心
位置検出方法。1 A first layer of sheet resistor made of a highly conductive flexible material, a second layer of pressure-sensitive plate whose conductance changes under the action of pressure, and a third layer of sheet hypoantibody with high conductivity. The periphery of the pressure detector is divided into two pairs of opposing sides, and electrodes are provided on the pair of opposing sides of the first layer sheet resistor. A voltage is applied between the electrodes provided on the other pair of opposite sides of the third layer sheet resistor through the respective resistances,
Voltages V_A, V of a pair of electrodes in the first sheet resistor
_B and the voltage V of the pair of electrodes in the second sheet resistor
Based on _C, V_D, the coordinates (x, y) of the center of gravity are
x=k(V_A-V_B)/(V_A+V_B)y=k
(V_C-V_D)/(V_C+V_D) (However, k
is a constant).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5091880A JPS6037401B2 (en) | 1980-04-16 | 1980-04-16 | Method for detecting center of gravity position of surface pressure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5091880A JPS6037401B2 (en) | 1980-04-16 | 1980-04-16 | Method for detecting center of gravity position of surface pressure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS56147003A JPS56147003A (en) | 1981-11-14 |
| JPS6037401B2 true JPS6037401B2 (en) | 1985-08-26 |
Family
ID=12872165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5091880A Expired JPS6037401B2 (en) | 1980-04-16 | 1980-04-16 | Method for detecting center of gravity position of surface pressure |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6037401B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008032661A1 (en) * | 2006-09-12 | 2008-03-20 | National Institute Of Advanced Industrial Science And Technology | Distribution value measuring method and measuring system using distribution value sensor therefore |
| WO2009144767A1 (en) * | 2008-05-29 | 2009-12-03 | 株式会社ハーモニック・ドライブ・システムズ | Complex sensor and robot hand |
| US8300018B2 (en) | 2005-09-05 | 2012-10-30 | Ewsystem Co., Ltd. | Tactile sensor |
| RU2776859C2 (en) * | 2019-05-29 | 2022-07-28 | Николай Дмитриевич Куликов | Electrode system for determining coordinates of geometric center of two-dimensional area (options) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2685559C1 (en) * | 2017-11-23 | 2019-04-22 | Николай Дмитриевич Куликов | Capacitance transducer for determining coordinates of geometric center of two-dimensional region (variants) |
| RU2717145C2 (en) * | 2018-07-23 | 2020-03-18 | Николай Дмитриевич Куликов | Method of inputting coordinates (versions), a capacitive touch screen (versions), a capacitive touch panel (versions) and an electric capacity converter for determining coordinates of a geometric center of a two-dimensional area (versions) |
| CN109374204A (en) * | 2018-09-27 | 2019-02-22 | 北京航天控制仪器研究所 | A three-float instrument float assembly balance detection device and method |
| RU2717143C1 (en) * | 2019-04-01 | 2020-03-18 | Николай Дмитриевич Куликов | Electric capacitance converter for determining coordinates of a geometric center of a two-dimensional region (versions) |
-
1980
- 1980-04-16 JP JP5091880A patent/JPS6037401B2/en not_active Expired
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8300018B2 (en) | 2005-09-05 | 2012-10-30 | Ewsystem Co., Ltd. | Tactile sensor |
| WO2008032661A1 (en) * | 2006-09-12 | 2008-03-20 | National Institute Of Advanced Industrial Science And Technology | Distribution value measuring method and measuring system using distribution value sensor therefore |
| US8175821B2 (en) | 2006-09-12 | 2012-05-08 | The University Of Tokyo | Method for measuring physical quantity distribution and measurement system using sensor for physical quantity distribution |
| JP5261852B2 (en) * | 2006-09-12 | 2013-08-14 | 独立行政法人産業技術総合研究所 | Distribution amount measuring method and measurement system using distribution amount sensor therefor |
| WO2009144767A1 (en) * | 2008-05-29 | 2009-12-03 | 株式会社ハーモニック・ドライブ・システムズ | Complex sensor and robot hand |
| US8490501B2 (en) | 2008-05-29 | 2013-07-23 | Harmonic Drive Systems Inc. | Complex sensor and robot hand |
| RU2776859C2 (en) * | 2019-05-29 | 2022-07-28 | Николай Дмитриевич Куликов | Electrode system for determining coordinates of geometric center of two-dimensional area (options) |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS56147003A (en) | 1981-11-14 |
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