Title:
DETECTING DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/115982
Kind Code:
A1
Abstract:
An environment contacting portion 20 is formed in the shape of a hemispherical shell of which a contacting surface which comes into contact with an environmental surface (such as a floor surface or a wall surface) is formed in the shape of a sphere. A supporting portion 30 supports the environment contacting portion 20 in such a way as to be capable of moving about a first axis and a second axis orthogonal to the first axis. Distance measuring sensors 41x, 41y are provided with a 90° angular difference about a third axis orthogonal to the first axis and the second axis, in an opposing position between an end surface 211 of the environment contacting portion 20 and an opposing surface 341 provided on the supporting portion 30 in such a way as to oppose the end surface 211. A resilient body 51 is provided between the end surface 211 of the environment contacting portion and the opposing surface 341 of the supporting portion 30, and the distance measuring sensors 41x, 41y measure a displacement of the environment contacting portion relative to the supporting portion generated in accordance with a force applied to a portion of contact between the environmental surface and the contacting surface of the environment contacting portion, in other words in accordance with a change in gap between the end surface 211 and the opposing surface 341, the configuration being such that a tangential force can be calculated on the basis of the measurement result. The tangential force can thus be detected using a robust and simple configuration.
Inventors:
KITO TAKASHI (JP)
KAMIKAWA YASUHISA (JP)
WAKANA KAZUHITO (JP)
KAMIKAWA YASUHISA (JP)
WAKANA KAZUHITO (JP)
Application Number:
PCT/JP2019/035667
Publication Date:
June 11, 2020
Filing Date:
September 11, 2019
Export Citation:
Assignee:
SONY CORP (JP)
International Classes:
G01L5/16; G01B11/00
Domestic Patent References:
| WO2017215086A1 | 2017-12-21 |
Foreign References:
| JP2012520451A | 2012-09-06 | |||
| JPH074908A | 1995-01-10 | |||
| US4639668A | 1987-01-27 |
Attorney, Agent or Firm:
MIYATA, Masaaki et al. (JP)
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