Multi-system Sensor Device for Force Detection Error Reduction
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Solution Overview
Problem
Conventional sensor devices, particularly those using capacitance type sensors, face challenges in accurately detecting external forces and moments due to nonlinear relationships between applied forces and detection values, leading to errors that are not effectively addressed by existing methods, especially when errors are asymmetrically distributed among sensor groups.
Innovation Solution
A sensor device configuration that includes multiple systems with sensor elements and computation units capable of calculating force and moment values in axial directions, with an abnormality determining unit comparing calculated values across systems to identify and mitigate errors, thereby improving detection accuracy and determining normal operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a capacitance type of sensor is used, then ease of manufacturing and cost are improved, but detection accuracy deteriorates due to nonlinear relationship between applied force and detection value
Solution Approach 1:
The sensor device is divided into a plurality of systems, each having sensor elements that detect external forces and moments. By segmenting the sensor into multiple independent systems, the patent enables parallel detection pathways that can be processed to reduce nonlinear errors while maintaining the manufacturing advantages of capacitance type sensors.
Solution Approach 2:
The patent combines detection values from multiple sensor elements across several systems to calculate force and moment values. By merging the output signals from multiple capacitance sensors and processing them collectively, the system achieves improved detection accuracy through error reduction while maintaining the cost-effectiveness of capacitance sensor technology.
2Reliability
If a model function is used to determine external force and moment from detection values, then detection capability is improved, but errors occur between actually applied forces and moments and calculated values due to nonlinear relationship
Solution Approach 1:
The patent implements a feedback mechanism where detection values from multiple sensor elements are continuously processed to calculate force and moment values. The system uses the collective information from multiple sensors to continuously adjust and refine the calculated values, providing feedback that compensates for nonlinear errors and improves overall measurement accuracy.
Solution Approach 2:
The patent transitions from single-sensor detection to multi-dimensional detection by utilizing multiple sensor elements arranged in different orientations. This dimensional expansion allows the system to capture force and moment components from multiple angles, enabling more accurate reconstruction of the applied loads through collective processing that compensates for individual sensor nonlinearities.
3Measurement precision
If multiple systems with sensor elements are used, then detection accuracy is improved by reducing errors, but device complexity increases
Solution Approach 1:
The patent designs each sensor element and system to perform multiple functions: detecting both external forces and moments, providing detection values for calculation, and enabling error reduction through redundancy. This multi-functionality allows the multiple systems to contribute to both force and moment detection simultaneously, improving accuracy without proportionally increasing overall system complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The proposed configuration enhances detection accuracy by reducing errors between applied and calculated forces and moments, allowing for precise determination of sensor device normalcy through cross-system comparison and value calculation.
Implementation Method 1
a capacitance type of sensor, etc., have been used. A capacitance type of sensor is superior to a strain gauge type of sensor in terms of ease of manufacturing and cost, however, because changes in the electrostatic capacitance value with respect to the applied force are nonlinear
Data Source
AI summary
A sensor device includes a plurality of systems each having a sensor element, and a computation unit configured to calculate as a first value a value of at least one of a force and a moment applied to a detection target in a predetermined axial direction, based on a detection signal detected by the sensor element, and an abnormality determining unit configured to compare the first values calculated by the computation units of the systems with one another, and determine that there is an abnormality if a difference of the first value is greater than or equal to a predetermined amount. The computation unit of at least one of the systems calculates as a second value a value of at least one of a force and a moment applied to the detection target in the axial direction, based on detection signals detected by the sensor elements of the systems.