Sensor device
AssigneeFanuc Corporation
InventorKazuhiro Satou
Life of this patent
Estimating the term…
Abstract
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.
Claims9
A sensor device comprising:
- a plurality of systems each having a sensor element configured to detect at least one of an external force and a moment applied to a detection target, 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 the 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 value calculated by the computation unit of each of the plurality of systems with one another, thereby obtaining at least one of a difference between external forces detected in each of the plurality of systems and a difference between moments detected in each of the plurality of systems, and to determine that there is an abnormality if at least one of the difference between the external forces and the difference between the moments is greater than or equal to a predetermined amount,
- wherein the computation unit of at least one system of the plurality of 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 a plurality of detection signals detected by the respective sensor elements of all of the plurality of systems,
- the computation unit of each of the plurality of systems is capable of communicating mutually with each other, and receives from the computation unit of another one of the plurality of systems the detection signal detected by the sensor element of the other system.
A sensor device comprising:
- a plurality of systems each having a sensor element configured to detect at least one of an external force and a moment applied to a detection target, 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 the 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 value calculated by the computation unit of each of the plurality of systems with one another, thereby obtaining at least one of a difference between external forces detected in each of the plurality of systems and a difference between moments detected in each of the plurality of systems, and to determine that there is an abnormality if at least one of the difference between the external forces and the difference between the moments is greater than or equal to a predetermined amount,
- wherein the computation unit of at least one system of the plurality of 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 a plurality of detection signals detected by the respective sensor elements of all of the plurality of systems,
- the abnormality determining unit comprises a plurality of abnormality determining units which are provided corresponding respectively to the plurality of systems.
Dependencies are inferred from the claim text.