CN107179150A - A kind of fan-like pattern robot touch sensor and its detection method - Google Patents
A kind of fan-like pattern robot touch sensor and its detection method Download PDFInfo
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- CN107179150A CN107179150A CN201710367690.8A CN201710367690A CN107179150A CN 107179150 A CN107179150 A CN 107179150A CN 201710367690 A CN201710367690 A CN 201710367690A CN 107179150 A CN107179150 A CN 107179150A
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- 238000001514 detection method Methods 0.000 title claims abstract description 16
- 239000010410 layer Substances 0.000 claims abstract description 129
- 239000011229 interlayer Substances 0.000 claims abstract description 15
- 230000004888 barrier function Effects 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims description 9
- 238000003825 pressing Methods 0.000 claims description 6
- 239000004065 semiconductor Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 239000012212 insulator Substances 0.000 claims description 2
- 239000002120 nanofilm Substances 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 230000005684 electric field Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 238000005253 cladding Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229920002521 macromolecule Polymers 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 239000005030 aluminium foil Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
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- 230000003993 interaction Effects 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
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- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
A kind of fan-like pattern robot touch sensor of the present invention and its detection method, including upper flexible layer, netted interlayer and lower flexible layer, the upper flexible layer, netted interlayer and lower flexible layer are fan-like pattern；The upper flexible layer is sticked to form with lower flexible layer by a conducting surface and an insulating surfaces, and conducting surface is as the inner surface of upper flexible layer and lower flexible layer, insulating barrier as upper flexible layer and lower flexible layer outer surface；The conducting surface of the conducting surface of upper flexible layer and lower flexible layer is attached at the upper and lower surface of the netted interlayer respectively；Front and rear two camber line of the upper flexible layer conducting surface is respectively equipped with arc side electrode, and the left and right ends line of the lower flexible layer conducting surface is respectively equipped with wire electrode.The beneficial effects of the present invention are：The fan-like pattern touch sensor of the present invention is coated on robot links, and then detects touch position, it is simple in construction, connect up less, manufacture craft it is simple, cost is few.
Description
Technical field
The invention belongs to field of sensing technologies, being related to be coated on is used for the one kind for detecting contact position on robot links
Fan-like pattern robot touch sensor and its detection method.
Background technology
Tactile is that robot realizes the required medium directly acted on environment, it can be ensured that robot has with external environment condition can
The physics and information exchange leaned on.The external information perceived by means of touch sensor can provide required ginseng for man-machine interaction
Examine, or the security control policies of robot provide the relevant situation of collision.
There is flexility to be flexibly coated on robot outer surface for touch sensor requirement, and require to have it is intelligent being capable of mould
Anthropomorphic body skin detection is to the information such as contacting feeling and contact position.At present, the touch sensor research of array is more ripe, but
It is difficult to avoid to cause the check frequency between tactile sensing unit due to the structure of array, and is needed in large area cladding use
The sensor unit of integrated substantial amounts, this have impact on its real-time and reliability to a certain extent.Non- battle array on the other side
Unified, detection zone is continuously more suitable for the use of large area cladding and the letter of its signal processing circuit in column touch sensor structure
Single, manufacture craft is simple, but the cladding mode of integration requires that the shape that sensor shape itself coats position with robot will
It is similar or even consistent.
The content of the invention
In consideration of it, the purpose of the present invention is to propose to a kind of fan-like pattern robot touch sensor and its detection method, realizing
Being coated on robot links is used to detect contact position.
The present invention solves the scheme that is used of technical problem：A kind of fan-like pattern robot touch sensor, including it is upper soft
Property layer, netted interlayer and lower flexible layer, the upper flexible layer, netted interlayer and lower flexible layer are fan-like pattern；On described
Flexible layer is sticked to form with lower flexible layer by a conducting surface and an insulating surfaces, and conducting surface is used as upper flexible layer and lower flexibility
The inner surface of layer, insulating barrier as upper flexible layer and lower flexible layer outer surface；The conducting surface of upper flexible layer and lower flexible layer
Conducting surface is attached at the upper and lower surface of the netted interlayer respectively；Front and rear two camber line of the upper flexible layer conducting surface is respectively equipped with
Arc side electrode, the left and right ends line of the lower flexible layer conducting surface is respectively equipped with wire electrode.
Further, the insulating surfaces are macromolecule membrane base material, one layer is coated with the insulating surfaces has and necessarily lead
Semiconductor medium of the electric rate to form the upper flexible layer and the conducting surface of lower flexible layer.
Further, the electrical conductivity of arc side electrode and wire electrode is all higher than the upper flexible layer and lower flexible layer
More than 10 times of the electrical conductivity of conducting surface semiconductor-on-insulator medium.
Further, the outer surface of the upper flexible layer and lower flexible layer is pasted with one layer of viscoplasticity diaphragm.
The present invention also provides a kind of detection method of fan-like pattern robot touch sensor as described above, and tactile is passed
Sensor, which is coated on robot links, to be used to detect contact position, and the detection of contact position comprises the following steps：
Step S1：Apply a bias direct current voltage between two wire electrodes of two end lines of lower flexible layer conducting surface
U0；
Step S2：Any position of upper flexible layer insulating surfaces in touch sensor is pressed, makes the upper flexible layer soft with
Property layer conducting surface contact, obtain a contact point；
Step S3：Using the conducting surface of the upper flexible layer as the lead-out wire of contact point, a signal picker is connected to, is obtained
Take magnitude of voltage Uθ；
Step S4：Remove the bias direct current voltage U of the lower flexible layer0, bias direct current voltage U0It is applied to described soft
Property layer conducting surface two arc side electrodes between；
Step S5：Using the conducting surface of the lower flexible layer as the lead-out wire of contact point, the signal picker is connected to,
Obtain magnitude of voltage Ur；
Step S6：Pressing position, and the contact point coordinates (r, θ) at calculating pressing position according to the following formula are unclamped,
Wherein, U0To be applied to the bias direct current magnitude of voltage between wire electrode and camber line electrode, UrAnd UθIt is respectively described
The magnitude of voltage for the contact point that signal picker is collected, r1And r2Respectively the roundlet arc radius and large circular arc radius of fan-like pattern, n
For the central angle of fan-like pattern.
Compared with prior art, the present invention has following beneficial effect：
(1) specific aim of the present invention solves non-array formula touch sensor and asked on the cladding of the round table-like connecting rod of robot
Topic；
(2) material that structure of the present invention is used is respectively provided with flexibility, meets the flexible requirement of robot touch sensor, can
Large area is covered in robot body surface, and its physical dimension is unrestricted, can make according to actual needs；
(3) sensor of the invention signal extraction and processing are simple, and at utmost Shangdi reduces later data processing
Pressure, it is ensured that the real-time of sensor；
(4) Making programme is simple, and material requested can directly bought, cost drops significantly on the market without particular/special requirement
It is low.
Brief description of the drawings
Patent of the present invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the robot touch sensor of the embodiment of the present invention；
Structural section figure when Fig. 2 is the robot touch sensor compression of the embodiment of the present invention；
Fig. 3 is the r measurement of coordinates schematic diagrams of the robot touch sensor method for detecting contact position of the embodiment of the present invention.
Fig. 4 is the θ measurement of coordinates schematic diagrams of the robot touch sensor method for detecting contact position of the embodiment of the present invention.
Fig. 5 is the measuring principle figure of touch sensor method for detecting contact position of the embodiment of the present invention.
In figure：Flexible layer under the upper flexible layer insulating surfaces of 1-, the upper flexible layers of 11-, 22-, the upper flexible layer conducting surfaces of 2-, 3- arcs side
Flexible layer insulating surfaces, t under flexible layer conducting surface under electrode, the netted interlayers of 4-, 5-, 6- wire electrodes, 7-1- timing node 1, t2-
Timing node 2,To apply bias direct current positive polarity, r on r directionsGndTo apply bias direct current voltage negative pole on r directions,To apply bias direct current positive polarity, θ on θ directionsGndTo apply bias direct current voltage negative pole on θ directions.
Embodiment
The present invention is further described with reference to the accompanying drawings and detailed description.
As shown in Fig. 1~2, a kind of fan-like pattern robot touch sensor of the present embodiment, including it is upper flexible layer 11, netted
Interlayer 4 and lower flexible layer 22, the upper flexible layer 11, netted interlayer 4 and lower flexible layer 22 are fan-like pattern；It is described soft
Property layer 11 be sticked to form with lower flexible layer 22 by a conducting surface and an insulating surfaces, and conducting surface as upper flexible layer 11 and under
The inner surface of flexible layer 22, insulating barrier as upper flexible layer 11 and lower flexible layer 22 outer surface；Upper flexible layer conducting surface 2 is with
Flexible layer conducting surface 5 is attached at the upper and lower surface of the netted interlayer 4 respectively；Front and rear two arc of the upper flexible layer conducting surface 2
Line is respectively equipped with arc side electrode 3, and the left and right ends line of the lower flexible layer conducting surface 5 is respectively equipped with wire electrode 6.It is described soft
Property layer insulating surfaces 1 and lower flexible layer insulating surfaces 7 as outer surface, play insulating protection effect.
From the foregoing, the beneficial effects of the present invention are：The present invention is the non-array formula touch sensor of fan-like pattern, energy
Enough to be coated on the round table-like rod surface of robot in large area to detect contact position, physical dimension is unrestricted, can be by
According to making is actually needed, applicability is wide.
In the present embodiment, the insulating surfaces are to be coated with one layer in macromolecule membrane base material, the insulating surfaces to have one
Determine semiconductor medium of the conductance to form the upper flexible layer 11 and the conducting surface of lower flexible layer 22.The tactile of the present invention is passed
The material that sensor is used is respectively provided with flexibility, can be coated on robotic surface in large area to detect contact position.
In the present embodiment, in order that arc side electrode 3 and the resistive of wire electrode 6 produce shadow as few as possible to electric field
Ring, the electrical conductivity of arc side electrode 3 and wire electrode 6 is all higher than on the conducting surface of the upper flexible layer 11 and lower flexible layer 22
More than 10 times of the electrical conductivity of semiconductor medium.
In the present embodiment, the outer surface of the upper flexible layer 11 and lower flexible layer 22 is pasted with one layer of viscoplasticity protection
Film.It is used to protect touch sensor from scraping damage by viscoplasticity film,
The physical dimension for the robot touch sensor that the present invention is provided is not limited, and can be manufactured according to practical use
The size of sensor.The conducting surface material of the flexible layer of the touch sensor of the present invention is graphite paper, arc side electrode 3 and wire electricity
Pole 6 uses aluminium foil, and the joining place of electrode and conducting surface is pasted using conducting adhesive cloth, strengthens electric conductivity, and insulating surfaces use high score
Sub- film substrate.Central web interlayer 4 uses polyethylene molecule material, and thickness is 0.25mm, and side length of element is 2mm.Viscoplasticity
Diaphragm is the silica gel material of 1mm thickness.
As in Figure 3-5, the present invention also provides a kind of detection of fan-like pattern robot touch sensor as described above
Method, touch sensor, which is coated on robot links, to be used to detect contact position, and the detection of contact position includes following step
Suddenly：
Step S1：Apply a bias direct current voltage between two wire electrodes 6 of two end lines of lower flexible layer conducting surface 5
U0；
Step S2：Press any position of the upper insulating surfaces of flexible layer 11 in touch sensor, make the upper flexible layer 11 with
The conducting surface contact of lower flexible layer 22, obtains a contact point；
Step S3：Using the conducting surface of the upper flexible layer 11 as the lead-out wire of contact point, a signal picker is connected to,
Obtain magnitude of voltage Uθ；
Step S4：Remove the bias direct current voltage U of the lower flexible layer 220, bias direct current voltage U0It is applied on described
Between two arc side electrodes 3 of flexible layer conducting surface 2；
Step S5：Using the conducting surface of the lower flexible layer 22 as the lead-out wire of contact point, the signal acquisition is connected to
Device, obtains magnitude of voltage Ur；
Step S6：Pressing position, and the contact point coordinates (r, θ) at calculating pressing position according to the following formula are unclamped,
Wherein, U0To be applied to the bias direct current magnitude of voltage between wire electrode 6 and camber line electrode, UrAnd UθRespectively institute
State the magnitude of voltage for the contact point that signal picker is collected, r1And r2The respectively roundlet arc radius and large circular arc radius of fan-like pattern,
N is the central angle of fan-like pattern.
The touch sensor that the present invention is provided determines the parameter of fan-like pattern according to the round table-like connecting rod to be coated, if
The upper arc side electrode 3 of flexible layer conducting surface 2 applies a bias voltage, and the structure according to touch sensor of the present invention then can be in upper flexibility
Steady electric field is produced in layer conducting surface 2, the fundamental property based on steady electric field understands that potential value has relation with position, therefore, such as
Fruit can measure the potential value of certain point, you can further try to achieve polar diameter coordinate r of this in conducting surface, can also equally be led under
Electric field is produced in electric layer to measure polar angle coordinate θ of this in conducting surface.By polar diameter coordinate and polar angle coordinate, then it can determine to connect
Coordinate points of the contact on conducting surface.
The present invention can be produced in two dimensions in timesharing on two conducting surfaces of upper flexible layer 11 and lower flexible layer 22
Steady electric field measures position coordinates.The conducting surface of the conducting surface of upper flexible layer 11 and lower flexible layer 22 by netted interlayer 4 every
The purpose opened, is that another conductive layer plays a part of drawing contact point electric potential signal when a conductive layer applies bias voltage.
As shown in Fig. 2 when applying external force on robot touch sensor surface, the conducting surface of upper flexible layer 11 is with
The conducting surface of flexible layer 22 is connected in contact position, sets up polar coordinate system with the center of circle of fan-like pattern, position detection is exactly that detection connects
Touch the process of position r and θ coordinate value：
R directions coordinate value measurement process on the electrode of the conducting surface of upper flexible layer 11 as shown in figure 3, apply a biased electrical
Press U0, the conducting surface of lower flexible layer 22 is as measuring surface, the potential value U for measuring contact positionr, so as to try to achieve r coordinates
Value：In formula, U0To be applied to the bias direct current magnitude of voltage between camber line electrode, UrFor the contact point directly measured
Magnitude of voltage, r1And r2The roundlet arc radius and large circular arc radius of respectively described fan-like pattern.
Position measurement process in θ directions is as shown in figure 4, remove the bias voltage of flexible layer conducting surface 2, in lower flexible layer 22
Conducting surface electrode on apply a bias voltage U0, upper flexible layer conducting surface 2 is as measuring surface, for measuring contact position
Potential value Uθ, so as to try to achieve θ coordinate values：In formula, U0To be applied to the bias direct current voltage between wire electrode 6
Value, UθFor the magnitude of voltage of the contact point directly measured, n is the central angle of fan-like pattern.
Contacting points position measurement process is as shown in figure 5, the position coordinates that simultaneous r directions and θ directions are tried to achieve, you can tries to achieve and connects
The position coordinates of contact.
In summary, the present invention is provided a kind of fan-like pattern robot touch sensor and its detection method, for detecting
Contact position, simple in construction, cost is low.
The object, technical solutions and advantages of the present invention are further described by above-listed preferred embodiment, are answered
Understand, the foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (5)
1. a kind of fan-like pattern robot touch sensor, it is characterised in that：Including upper flexible layer, netted interlayer and lower flexibility
Layer, the upper flexible layer, netted interlayer and lower flexible layer are fan-like pattern；The upper flexible layer is led with lower flexible layer by one
Electric face and an insulating surfaces are sticked to form, and conducting surface, as upper flexible layer and the inner surface of lower flexible layer, insulating barrier is as upper
The outer surface of flexible layer and lower flexible layer；The conducting surface of the conducting surface of upper flexible layer and lower flexible layer is attached at described netted respectively
The upper and lower surface of interlayer；Front and rear two camber line of the upper flexible layer conducting surface is respectively equipped with arc side electrode, and the lower flexible layer is led
The left and right ends line in electric face is respectively equipped with wire electrode.
2. a kind of fan-like pattern robot touch sensor according to claim 1, it is characterised in that：The insulating surfaces are height
One layer is coated with molecular film base material, the insulating surfaces has certain conductance to form the upper flexible layer and lower flexibility
The semiconductor medium of the conducting surface of layer.
3. a kind of fan-like pattern robot touch sensor according to claim 2, it is characterised in that：Arc side electrode and
The electrical conductivity of wire electrode is all higher than the 10 of the upper flexible layer and the electrical conductivity of the conducting surface semiconductor-on-insulator medium of lower flexible layer
More than times.
4. a kind of fan-like pattern robot touch sensor according to claim 1, it is characterised in that：The upper flexible layer with
The outer surface of lower flexible layer is pasted with one layer of viscoplasticity diaphragm.
5. a kind of detection method of fan-like pattern robot touch sensor according to claim 1, it is characterised in that will touch
Feeling that sensor is coated on robot links is used to detect contact position, and the detection of contact position comprises the following steps：
Step S1：Apply a bias direct current voltage U between two wire electrodes of two end lines of lower flexible layer conducting surface0；
Step S2：Any position of upper flexible layer insulating surfaces in touch sensor is pressed, makes the upper flexible layer and lower flexible layer
Conducting surface contact, obtain a contact point；
Step S3：Using the conducting surface of the upper flexible layer as the lead-out wire of contact point, a signal picker is connected to, electricity is obtained
Pressure value Uθ；
Step S4：Remove the bias direct current voltage U of the lower flexible layer0, bias direct current voltage U0It is applied to the upper flexible layer
Between two arc side electrodes of conducting surface；
Step S5：Using the conducting surface of the lower flexible layer as the lead-out wire of contact point, the signal picker is connected to, is obtained
Magnitude of voltage Ur；
Step S6：Pressing position, and the contact point coordinates (r, θ) at calculating pressing position according to the following formula are unclamped,
<mrow>
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Wherein, U0To be applied to the bias direct current magnitude of voltage between wire electrode and camber line electrode, UrAnd UθRespectively described signal
The magnitude of voltage for the contact point that collector is collected, r1And r2The respectively roundlet arc radius and large circular arc radius of fan-like pattern, n is fan
The central angle of face shape.
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| CN201710367690.8A CN107179150A (en) | 2017-05-23 | 2017-05-23 | A kind of fan-like pattern robot touch sensor and its detection method |
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ID=59832486
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| CN108340412A (en) * | 2018-03-19 | 2018-07-31 | 上海优尼斯工业服务有限公司 | A kind of industrial machinery arm safety guard |
| CN108731853A (en) * | 2018-03-16 | 2018-11-02 | 东南大学 | Pressure distribution measurement analysis system based on flexible material and method |
| CN109470386A (en) * | 2018-11-09 | 2019-03-15 | 福州大学 | A kind of power/position touch sensor detection system and detection method |
| CN112114365A (en) * | 2019-06-19 | 2020-12-22 | 北京猎户星空科技有限公司 | Collision detection device and method and robot |
| CN115752823A (en) * | 2022-11-24 | 2023-03-07 | 吉林大学 | Non-array bionic flexible touch sensor with positioning function and preparation method thereof |
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| CN109470386B (en) * | 2018-11-09 | 2020-11-10 | 福州大学 | Force/position touch sensor detection system and detection method |
| CN112114365A (en) * | 2019-06-19 | 2020-12-22 | 北京猎户星空科技有限公司 | Collision detection device and method and robot |
| CN115752823A (en) * | 2022-11-24 | 2023-03-07 | 吉林大学 | Non-array bionic flexible touch sensor with positioning function and preparation method thereof |
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