CN107374780B - A kind of artificial intelligence skin and its method for detection humiture and pressure - Google Patents
A kind of artificial intelligence skin and its method for detection humiture and pressure Download PDFInfo
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- CN107374780B CN107374780B CN201710757013.7A CN201710757013A CN107374780B CN 107374780 B CN107374780 B CN 107374780B CN 201710757013 A CN201710757013 A CN 201710757013A CN 107374780 B CN107374780 B CN 107374780B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/10—Hair or skin implants
- A61F2/105—Skin implants, e.g. artificial skin
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
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- A—HUMAN NECESSITIES
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7225—Details of analog processing, e.g. isolation amplifier, gain or sensitivity adjustment, filtering, baseline or drift compensation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/746—Alarms related to a physiological condition, e.g. details of setting alarm thresholds or avoiding false alarms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention discloses a kind of artificial intelligence skin, it includes signal acquisition part and circuit part, signal acquisition part point includes humidity sensitive material layer, first electrode layer, insulating layer, the second electrode lay, thermistor material layer, the 3rd electrode layer, piezoelectric material layer and the 4th electrode layer set gradually from top to bottom, and circuit part includes front-end circuit and back-end circuit.The invention also discloses the method using above-mentioned artificial intelligence skin detection humiture and pressure.The configuration of the present invention is simple, be easy to miniaturization and it is integrated, test method is succinct, rigorous.The present invention is suitable for manufacturing artificial intelligence skin.
Description
Technical field
The invention belongs to medical instrument, artificial intelligence, teaching equipment technical field, for manufacturing artificial intelligence skin, tool
Say it is a kind of artificial intelligence skin and its method for detection humiture and pressure body.
Background technology
Skin is one of mostly important perceptual organ of the mankind, as the high speed of robot technology and electron medical treatment technology is sent out
Exhibition, artificial intelligence skin are widely paid close attention to.
Artificial intelligence skin is the product that human skin is imitated with function section bar material.Existing artificial intelligence skin is mostly
Signal is gathered using circuit structures such as sensors, it is complicated, it is unfavorable for minimizing and integrated, is not easy to expand to large area,
And detection sensitivity is low.In addition, existing artificial skin does not possess intelligent detecting function.
The content of the invention
To solve the above-mentioned problems in the prior art, the present invention is intended to provide a kind of artificial intelligence skin, to energy
The above problem present in the prior art is enough solved, another object of the present invention, which is to provide, utilizes the artificial intelligence skin
The method for detecting humiture and pressure.
To achieve the above object, used technical solution is as follows by the present invention：
A kind of artificial intelligence skin, including signal acquisition part and circuit part；
1. signal acquisition part
The signal acquisition part by set gradually from top to bottom humidity sensitive material layer, first electrode layer, insulating layer,
The second electrode lay, thermistor material layer, the 3rd electrode layer, piezoelectric material layer and the 4th electrode layer composition；
The humidity sensitive material layer and first electrode layer form Humidity Detection layer together；
The second electrode lay, thermistor material layer and the 3rd electrode layer form temperature detection layer together；
3rd electrode layer, piezoelectric material layer and the 4th electrode layer decomposition pressure detection layers together；
The first electrode layer includes N（N≥2）A small electrode；
2. circuit part
The circuit part includes front-end circuit and back-end circuit；
The front-end circuit includes the first controller, second controller and the first multiplexer, first controller
Control signal output pass through the first multiplexer signal input part phase with N number of small electrode of first electrode layer respectively
Even, the control signal output of the second controller is connected with the signal input part of the second electrode lay, the 3rd electrode layer；
The back-end circuit include first band pass filtering unit, the second bandpass filtering unit, low-pass filter unit, first~
3rd analog-digital converter and central processing unit；
The signal output part of the Humidity Detection layer be sequentially connected in series after first band pass filtering unit, the first analog-digital converter with
The moisture signal input terminal of central processing unit is connected；The signal output part of the temperature detection layer is sequentially connected in series the second bandpass filtering
It is connected after unit, the second analog-digital converter with the temperature signal input of central processing unit；The signal of the pressure detecting layer is defeated
Outlet is connected after being sequentially connected in series low-pass filter unit, the 3rd analog-digital converter with the pressure signal input end of central processing unit.
As restriction：The second electrode lay includes M1（M1≥1）A small electrode, front-end circuit further include the second multichannel tune
Device processed；
The control signal output of the second controller passes through the second multiplexer M1 with the second electrode lay respectively
A small electrode, the signal input part of the 3rd electrode layer are connected.
As second of restriction：4th electrode layer includes M2（M2≥1）A small electrode.
As the third restriction：The back-end circuit further includes the 3rd controller and excitation electrode layer；
The signal output part of the central processing unit is connected with the signal input part of the 3rd controller, the control of the 3rd controller
Signal output part processed is with encouraging the signal input part of electrode layer to be connected.
Limited as further：The back-end circuit further includes the 3rd controller, the 3rd multiplexer and excitation electrode
Layer；
The excitation electrode layer includes M3 small excitation electrodes, the M3 >=N, and M3 takes the maximum of M1, M2, N three；
The signal output part of the central processing unit is connected with the signal input part of the 3rd controller, the control of the 3rd controller
Signal output part processed is connected by signal input part of the 3rd multiplexer respectively with M3 small excitation electrode.
A kind of method for detecting humiture and pressure, is realized using above-mentioned artificial intelligence skin, including carry out successively
Following steps：
First, it is by a frequency by the first controllerAC voltage/current signal output to the first multiplexer,
First multiplexer will be exported to first electrode layer after received AC voltage/current signal modulation, pass through the second control
One frequency is by deviceAC voltage/current signal output to the 3rd electrode layer and the second electrode lay；
As the R of first electrode layer（R ∈ [1, N]）The humidity of the corresponding artificial intelligence skin appearance of small electrode changes
When, the dielectric constant of humidity sensitive material layer changes, and mutual electrification is produced between R small electrodes and small electrode adjacent thereto
Hold, Humidity Detection layer by the AC analogue electric signal output containing the Inductance and Capacitance information to first band pass filtering unit, when
When ambient temperature changes, the resistivity of thermistor material layer changes, and temperature detection layer is by the friendship containing change in resistance
Flow field simulation electric signal output is to the second bandpass filtering unit, when applying pressure to artificial intelligence skin, piezoelectric layer surface
Electric charge and further formation AC analogue electric signal are produced, pressure detecting layer is by the AC analogue electric signal output to low pass filtered
Ripple unit；
Wherein,；
2nd, first band pass filtering unit will be exported to the first modulus after received AC analogue electric signal filtering process and turned
Parallel operation, the second bandpass filtering unit will be exported to the second analog-digital converter after received AC analogue electric signal filtering process,
Low-pass filter unit will be exported to the 3rd analog-digital converter after received AC analogue electric signal filtering process；
3rd, received AC analogue electric signal is converted into digital signal by the first analog-digital converter, and is exported to centre
Device is managed, received AC analogue electric signal is converted into digital signal by the second analog-digital converter, and is exported to central processing unit, the
Received AC analogue electric signal is converted into digital signal by three analog-digital converters, and is exported to central processing unit；
4th, central processing unit will obtain first electrode layer after the received digital signal calculating processing of the first analog-digital converter
The corresponding artificial intelligence skin appearance of R small electrodes humidity value, central processing unit will be received from the second analog-digital converter
Digital signal carries out obtaining temperature value after calculating processing, central processing unit will from the 3rd received digital signal of analog-digital converter into
Pressure value is obtained after row calculating processing；
5th, central processing unit is handled according to calculating humidity value, temperature value, pressure value are fed back accordingly.
As restriction：The second electrode lay includes M1（M1≥1）A small electrode, the 4th electrode layer include M2（M2≥1）
A small electrode, front-end circuit further include the second multiplexer；
The control signal output of the second controller passes through the second multiplexer M1 with the second electrode lay respectively
A small electrode, the signal input part of the 3rd electrode layer are connected；
The step 1 includes the following steps carried out successively,
A, it is by a frequency by the first controllerAC voltage/current signal output to the first multiplexer,
One multiplexer will be exported to first electrode layer after received AC voltage/current signal modulation, passes through second controller
It is by a frequencyAC voltage/current signal output to the second multiplexer, the second multiplexer is by received exchange
Exported after voltage/current signals modulation to the second electrode lay and the 3rd electrode layer；
B, as the R of first electrode layer（R ∈ [1, N]）The humidity of the corresponding artificial intelligence skin appearance of small electrode becomes
During change, the dielectric constant of humidity sensitive material layer changes, and mutual inductance is produced between R small electrodes and small electrode adjacent thereto
Capacitance, Humidity Detection layer by the AC analogue electric signal output containing the Inductance and Capacitance information to first band pass filtering unit,
As the S of the second electrode lay（S ∈ [1, M1]）Near the corresponding artificial intelligence skin of small electrode during temperature change, thermistor material
The resistivity of the bed of material changes, the S temperature detection layers of S small electrodes, the 3rd electrode layer and thermistor material layer composition
Unit by the AC analogue electric signal output containing change in resistance to the second bandpass filtering unit, as the T of the 4th electrode layer
（T ∈ [1, M2]）During the pressure change of the corresponding artificial intelligence outer surface of the skin of small electrode, the surface of piezoelectric material layer produces electricity
Lotus simultaneously further forms AC analogue electric signal, the T pressure inspection of T small electrodes, the 3rd electrode layer and piezoelectric material layer composition
Layer unit is surveyed by the AC analogue electric signal output to low-pass filter unit；
Wherein,；
The step 4 is that central processing unit will obtain after the received digital signal calculating processing of the first analog-digital converter
The humidity value of the corresponding artificial intelligence skin appearance of R small electrodes of first electrode layer, central processing unit will turn from the second modulus
The corresponding artificial intelligence skin of S small electrodes that parallel operation received digital signal obtain after calculating processing the second electrode lay is attached
Near temperature value, central processing unit obtain the 4th electricity after carrying out calculating processing from the 3rd received digital signal of analog-digital converter
The pressure value of the corresponding artificial intelligence skin surface of T small electrodes of pole layer.
As second of restriction：The back-end circuit further includes the 3rd controller and excitation electrode layer；
The signal output part of the central processing unit is connected with the signal input part of the 3rd controller, the control of the 3rd controller
Signal output part processed is with encouraging the signal input part of electrode layer to be connected；
In the step 4, central processing unit will obtain after the received digital signal calculating processing of the first analog-digital converter
The humidity value of the corresponding artificial intelligence skin appearance of R small electrodes of first electrode layer, and export to the 3rd controller, centre
Reason device will carry out calculating from the received digital signal of the second analog-digital converter and handle to obtain temperature value, and export to the 3rd control
Device, central processing unit obtains pressure value after carrying out calculating processing from the 3rd received digital signal of analog-digital converter, and exports
To the 3rd controller；
The step 5 is that by received humidity value, further the backward excitation electrode layer of processing is sent accordingly the 3rd controller
Control signal, by received temperature value, further the backward excitation electrode layer of processing sends corresponding control letter to the 3rd controller
Number, by received pressure value, further the backward excitation electrode layer of processing sends corresponding control signal to the 3rd controller；
This method further includes step 6,
6th, excitation electrode layer sends corresponding electric signal and exports to connecting/the signal input part of installation position.
Further as the first restriction limits：The back-end circuit further includes the 3rd controller, the 3rd multiplexing
Device and excitation electrode layer；
The excitation electrode layer includes M3 small excitation electrodes, the M3 >=N, and M3 takes the maximum of M1, M2, N three；
The signal output part of the central processing unit is connected with the signal input part of the 3rd controller, the control of the 3rd controller
The signal for the M3 small excitation electrode that signal output part processed is included with excitation electrode layer respectively by the 3rd multiplexer inputs
End is connected；
In the step 4, central processing unit will obtain after the received digital signal calculating processing of the first analog-digital converter
The humidity value of the corresponding artificial intelligence skin appearance of R small electrodes of first electrode layer, and export to the 3rd controller, centre
Reason device obtains the S small electrodes pair of the second electrode lay after carrying out calculating processing from the received digital signal of the second analog-digital converter
The temperature value near artificial intelligence skin answered, and output to the 3rd controller, central processing unit will be from the 3rd analog-digital converter
Received digital signal obtain after calculating processing the corresponding artificial intelligence skin surface of T small electrodes of the 4th electrode layer
Pressure value；
The step 5 is that received humidity value is further handled backward 3rd multiplexer and sent by the 3rd controller
Received temperature value is further handled backward 3rd multiplexer and sent accordingly by corresponding control signal, the 3rd controller
Received pressure value is further handled backward 3rd multiplexer and sends corresponding control letter by control signal, the 3rd controller
Number；
This method further includes step 6 and step 7,
6th, will be with the relevant electric signal of humidity after the 3rd multiplexer demodulates the received control signal of step 5
Output is defeated by the electric signal related with temperature to the small excitation electrode layer units of R corresponding with the R small electrodes of first electrode layer
Go out to the small excitation electrode layer units of S corresponding with the S small electrodes of the second electrode lay, by the electric signal output with pressure correlation
To the small excitation electrode layer units of T corresponding with the T small electrodes of the 4th electrode layer；
7th, the small excitation electrode layer units of R, the small excitation electrode layer units of S, the small excitation electrode layer units of T are sent out respectively
Go out corresponding electric signal and export to respective and connect/the signal input part of installation position.
The present invention as a result of above-mentioned technical solution, its compared with prior art, acquired technological progress is：
（1）The present invention provides the artificial intelligence based on humidity sensitive material layer, thermistor material layer and piezoelectric material layer
The structure of energy skin, has initiative in artificial intelligence dermal region；
（2）The structure of the present invention is simple, easily scales to large area；
（3）Thermistor material layer, humidity sensitive material layer, the piezoelectric material layer of the present invention selects strong soft of fatigue resistance
Property material, can reach the effect of flexible skin；
（4）It is nontoxic that thermistor material layer, humidity sensitive material layer, the piezoelectric material layer of the present invention selects human body to adapt to
Material, for replacing the dead skin of sufferer；
（5）The first~the 4th electrode layer of the present invention can include multiple small electrode layers, for the signal on artificial skin surface
The high resolution of position occurs；
（6）The back-end circuit of the present invention, the signal collected for handling signal acquisition part, processing procedure intelligence are high
Effect；
（7）Energy consumption of the present invention is low, cost is low, beneficial to popularization.
The present invention is suitable for doing the appearance skin of robot, mechanical arm, substitutes the dead skin of sufferer.
Brief description of the drawings
Attached drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be used to explain the present invention together, be not construed as limiting the invention.
In the accompanying drawings：
Fig. 1 is the partial structural diagram of the signal acquisition part of Example 1 and Example 2 of the present invention；
Fig. 2 is the electricity Yuan roads figure of the back-end circuit of the embodiment of the present invention 1；
Fig. 3 is the electrical schematic diagram of the back-end circuit of the embodiment of the present invention 2.
In figure：1st, humidity sensitive material layer, 2, first electrode layer, 3, insulating layer, 4, the second electrode lay, 5, thermistor
Material layer, the 6, the 3rd electrode layer, 7, piezoelectric material layer, the 8, the 4th electrode layer.
Embodiment
The preferred embodiment of the present invention is illustrated below in conjunction with attached drawing.It is it should be appreciated that described herein preferred real
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
A kind of artificial intelligence skin of embodiment 1
The present embodiment be the tele-medicine machine with artificial intelligence skin mechanical arm, the artificial intelligence skin bag
Include signal acquisition part and circuit part；
1. signal acquisition part
With reference to Fig. 1, signal acquisition part by set gradually from top to bottom humidity sensitive material layer 1, first electrode layer 2,
Insulating layer 3, the second electrode lay 4, thermistor material layer 5, the 3rd electrode layer 6,7 and the 4th electrode layer 8 of piezoelectric material layer form；
Humidity sensitive material layer 1 and first electrode layer 2 form Humidity Detection layer together；
The second electrode lay 4,5 and the 3rd electrode layer 6 of thermistor material layer form temperature detection layer together；
3rd electrode layer 6,7 and the 4th electrode layer 8 of piezoelectric material layer decomposition pressure detection layers together；
First electrode layer 2 includes N（N≥2）A small electrode, the second electrode lay 4 include M1（M1≥1）A small electrode, the 4th
Electrode layer 8 includes M2（M2≥1）A small electrode；
2. circuit part
With reference to Fig. 2, circuit part includes front-end circuit and back-end circuit；
Wherein, front-end circuit includes the first controller, second controller, the first multiplexer and the second multiplexing
Device, the control signal output of the first controller by the first multiplexer respectively with N number of small electrode of first electrode layer 2
Signal input part is connected, the control signal output of second controller by the second multiplexer respectively with the second electrode lay 4
M1 small electrode, the signal input part of the 3rd electrode layer 6 is connected；
Back-end circuit includes first band pass filtering unit, the second bandpass filtering unit, low-pass filter unit, the first~the 3rd
Analog-digital converter and central processing unit, the signal output part of Humidity Detection layer are sequentially connected in series first band pass filtering unit, the first mould
It is connected after number converter with the moisture signal input terminal of central processing unit；The signal output part of the temperature detection layer is sequentially connected in series
It is connected after second bandpass filtering unit, the second analog-digital converter with the temperature signal input of central processing unit, pressure detecting layer
Signal output part be sequentially connected in series pressure signal input end after low-pass filter unit, the 3rd analog-digital converter with central processing unit
It is connected.
In the present embodiment, the centre frequency of first band pass filtering unit is 10MHz, bandwidth 6MHz, the second bandpass filtering
The centre frequency of unit is 1MHz, bandwidth 600KHz, and the cutoff frequency of low-pass filter unit is 10KHz.
The present embodiment fits appearance skin that may further be used to make teaching demonstration device, robot etc..
A kind of artificial intelligence skin of embodiment 2
The present embodiment further optimizes back-end circuit on the basis of 1 artificial intelligence skin of embodiment, reference Fig. 3,
Back-end circuit further includes the 3rd controller, the 3rd multiplexer and excitation electrode layer on the basis of Fig. 2, and excitation electrode layer includes
M3 small excitation electrodes, the M3 >=N, and M3 takes the maximum of M1, M2, N three；The signal output part of central processing unit and
The signal input part of three controllers is connected, and the control signal output of the 3rd controller is by the 3rd multiplexer respectively with swashing
The signal input part for encouraging the M3 small excitation electrode that electrode layer includes is connected.
The present embodiment is suitable for replacing the downright bad skin of patient, wherein excitation electrode layer is connected to according to different applications
On the neuronal cell that need to be stimulated, such as in cochlea is implanted into, excitation electrode layer connection auditory nerve.
A kind of method for detecting humiture and pressure of embodiment 3
The present embodiment realizes that it includes the following steps carried out successively using embodiment 1：
First, by the first controller by AC voltage/current signal output that a frequency is 10MHz to the first multiplexing
Device, the first multiplexer will be exported to first electrode layer 2 after received AC voltage/current signal modulation, pass through second
Controller will by AC voltage/current signal output to the second multiplexer, the second multiplexer that a frequency is 1MHz
Exported after received AC voltage/current signal modulation to 4 and the 3rd electrode layer 6 of the second electrode lay；
When the body of mechanical arm contact patient, it is assumed that the part that mechanical arm touches patient body corresponds respectively to
The R of the first electrode layer 2 of itself（R ∈ [1, N]）The S of small electrode, the second electrode lay 4（S ∈ [1, M1]）Small electrode, the 4th
The T of electrode layer 8（T ∈ [1, M2]）Small electrode, at this moment the R small electrodes of first electrode layer 2 corresponding mechanical arm appearance
Humidity changes, and the dielectric constant of humidity sensitive material layer 1 changes, R small electrodes and small electrode adjacent thereto it
Between produce Inductance and Capacitance, Humidity Detection layer is by the AC analogue electric signal output containing the Inductance and Capacitance information to the first band logical
Filter unit, while temperature change near the corresponding mechanical arm of S small electrodes of the second electrode lay 4, thermistor material layer 5
Resistivity change, the S temperature detection layer lists that S small electrodes, the 3rd electrode layer 6 and thermistor material layer 5 form
Member is by the AC analogue electric signal output containing change in resistance to the second bandpass filtering unit, while the T of the 4th electrode layer 8
The pressure change of the corresponding mechanical arm outer surface of small electrode, the surface of piezoelectric material layer 7, which produces electric charge and further formed, hands over
Flow field simulation electric signal, the T pressure detectings layer unit that T small electrodes, the 3rd electrode layer 6 and piezoelectric material layer 7 form is by described in
AC analogue electric signal output is to low-pass filter unit；
2nd, first band pass filtering unit will be exported to the first modulus after received AC analogue electric signal filtering process and turned
Parallel operation, the second bandpass filtering unit will be exported to the second analog-digital converter after received AC analogue electric signal filtering process,
Low-pass filter unit will be exported to the 3rd analog-digital converter after received AC analogue electric signal filtering process；
3rd, received AC analogue electric signal is converted into digital signal by the first analog-digital converter, and is exported to centre
Device is managed, received AC analogue electric signal is converted into digital signal by the second analog-digital converter, and is exported to central processing unit, the
Received AC analogue electric signal is converted into digital signal by three analog-digital converters, and is exported to central processing unit；
4th, central processing unit will obtain first electrode layer after the received digital signal calculating processing of the first analog-digital converter
The humidity value of the 2 corresponding mechanical arm appearance of R small electrodes, central processing unit will be from the received numerals of the second analog-digital converter
Signal obtains the temperature value near the corresponding mechanical arm of S small electrodes of the second electrode lay 4, centre after carrying out calculating processing
Reason device obtains the T small electrodes of the 4th electrode layer 8 after carrying out calculating processing from the 3rd received digital signal of analog-digital converter
The pressure value on corresponding mechanical arm surface；
5th, central processing unit is handled according to calculating humidity value, temperature value, pressure value are fed back accordingly；
For example, if moisture signal is excessive, the excessive letter of doctor's humidity is fed back to by modes such as display, sound, vibrations
Breath；If patient temperature is excessive, doctor or operator are prompted, the state of an illness is assessed by the moisture signal and temperature signal of return
Deng；If pressure signal is excessive, the information of Principle of Pain may be caused by feeding back to doctor by modes such as display, sound, vibrations.
In the present embodiment, R, S, T three can be equal, can not also be equal, also, in actual use, it is usually same
It is not that only some small electrode detects humidity information in moment Humidity Detection layer, but many small electrodes work together
Make, whole back-end circuit can handle many relevant capacitance signals of humidity together；Similarly in synchronization temperature detection layer
It is not that only some small electrode detects temperature change, but many small electrodes work together, whole back-end circuit meeting
Many temperature signals of processing together；Similarly in pressure detecting layer nor only some small electrode detect buckling, and
It is that many small electrodes work together, whole back-end circuit can handle many pressure signals together, and the present embodiment is intended merely to
It is convenient illustrate it is clear, with the R small electrodes of first electrode layer 2, the S small electrodes of the second electrode lay 4, the 4th electrode layer 8 T
Small electrode illustrates.
The method of a kind of artificial intelligence skin detection humiture of embodiment 4 and pressure
The present embodiment realizes that it includes the following steps carried out successively with embodiment 2：
First, by the first controller by AC voltage/current signal output that a frequency is 10MHz to the first multiplexing
Device, the first multiplexer will be exported to first electrode layer 2 after received AC voltage/current signal modulation, pass through second
Controller will by AC voltage/current signal output to the second multiplexer, the second multiplexer that a frequency is 1MHz
Exported after received AC voltage/current signal modulation to 4 and the 3rd electrode layer 6 of the second electrode lay；
As the R of first electrode layer 2（R ∈ [1, N]）The humidity of the corresponding artificial intelligence skin appearance of small electrode becomes
During change, the dielectric constant of humidity sensitive material layer changes, and mutual inductance is produced between R small electrodes and small electrode adjacent thereto
Capacitance, Humidity Detection layer by the AC analogue electric signal output containing the Inductance and Capacitance information to first band pass filtering unit,
As the S of the second electrode lay 4（S ∈ [1, M1]）Near the corresponding artificial intelligence skin of small electrode during temperature change, thermistor
The resistivity of material layer 5 changes, the S temperature inspection that S small electrodes, the 3rd electrode layer 6 and thermistor material layer 5 form
Layer unit is surveyed by the AC analogue electric signal output containing change in resistance to the second bandpass filtering unit, when the 4th electrode layer 8
T（T ∈ [1, M2]）During the pressure change of the corresponding artificial intelligence outer surface of the skin of small electrode, the surface of piezoelectric material layer 7
Produce electric charge and further form AC analogue electric signal, T small electrodes, the of the 3rd electrode layer 6 and the composition of piezoelectric material layer 7
T pressure detectings layer unit is by the AC analogue electric signal output to low-pass filter unit；
2nd, first band pass filtering unit will be exported to the first modulus after received AC analogue electric signal filtering process and turned
Parallel operation, the second bandpass filtering unit will be exported to the second analog-digital converter after received AC analogue electric signal filtering process,
Low-pass filter unit will be exported to the 3rd analog-digital converter after received AC analogue electric signal filtering process；
3rd, received AC analogue electric signal is converted into digital signal by the first analog-digital converter, and is exported to centre
Device is managed, received AC analogue electric signal is converted into digital signal by the second analog-digital converter, and is exported to central processing unit, the
Received AC analogue electric signal is converted into digital signal by three analog-digital converters, and is exported to central processing unit；
4th, central processing unit will obtain first electrode layer after the received digital signal calculating processing of the first analog-digital converter
The humidity value of the 2 corresponding artificial intelligence skin appearance of R small electrodes, and exporting to the 3rd controller, central processing unit will be from
The received digital signal of second analog-digital converter obtains the corresponding people of S small electrodes of the second electrode lay 4 after carrying out calculating processing
Temperature value near work intelligence skin, and output to the 3rd controller, central processing unit will be received from the 3rd analog-digital converter
Digital signal obtain after calculating processing the pressure of the corresponding artificial intelligence skin surface of T small electrodes of the 4th electrode layer 8
Value, and export to the 3rd controller；
5th, received humidity value is further handled backward 3rd multiplexer and sends corresponding control by the 3rd controller
Received temperature value is further handled backward 3rd multiplexer and sends corresponding control signal by signal, the 3rd controller,
Received pressure value is further handled backward 3rd multiplexer and sends corresponding control signal by the 3rd controller；
6th, will be with the relevant electric signal of humidity after the 3rd multiplexer demodulates the received control signal of step 5
Output is to the small excitation electrode layer units of R corresponding with the R small electrodes of first electrode layer 2, by the electric signal related with temperature
Output is to the small excitation electrode layer units of S corresponding with the S small electrodes of the second electrode lay 4, by the electric signal with pressure correlation
Output encourages electrode layer unit to T corresponding with the T small electrodes of the 4th electrode layer 8 is small；
7th, the small excitation electrode layer units of R, the small excitation electrode layer units of S, the small excitation electrode layer units of T are sent out respectively
Go out corresponding electric signal and export to respective and connect/the signal input part of installation position；
Such as artificial skin is placed in left arm, can right arm dispose excitation electrode, when have left arm detect humidity change or
When temperature change or pressure change, the relevant position for being placed in the excitation electrode pair right arm of right arm applies electric signal to inform greatly
Brain is applied to the signal on left arm artificial skin；
According to different applications electrode layer can will be encouraged to be connected on neuronal cell, for example, in cochlea is implanted into, excitation
Electrode layer connects auditory nerve.
In the present embodiment, R, S, T three can be equal, can not also be equal, also, in actual use, it is usually same
It is not that only some small electrode detects humidity information in moment Humidity Detection layer, but many small electrodes work together
Make, whole back-end circuit can handle many relevant capacitance signals of humidity together；Similarly in synchronization temperature detection layer
It is not that only some small electrode detects temperature change, but many small electrodes work together, whole back-end circuit meeting
Many temperature signals of processing together；Similarly in pressure detecting layer nor only some small electrode detect buckling, and
It is that many small electrodes work together, whole back-end circuit can handle many pressure signals together, and the present embodiment is intended merely to
It is convenient illustrate it is clear, with the R small electrodes of first electrode layer 2, the S small electrodes of the second electrode lay 4, the 4th electrode layer 8 T
Small electrode illustrates.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention,
Although the present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art, it still may be used
To modify to the technical solution described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic.
Within the spirit and principles of the invention, any modification, equivalent replacement, improvement and so on, should be included in power of the present invention
Within the scope of profit is claimed.
Claims (10)
- A kind of 1. artificial intelligence skin, it is characterised in that：Including signal acquisition part and circuit part；1. signal acquisition partThe signal acquisition part is by the humidity sensitive material layer that sets gradually from top to bottom（1）, first electrode layer（2）, insulation Layer（3）, the second electrode lay（4）, thermistor material layer（5）, the 3rd electrode layer（6）, piezoelectric material layer（7）With the 4th electrode layer （8）Composition；The humidity sensitive material layer（1）And first electrode layer（2）Humidity Detection layer is formed together；The second electrode lay（4）, thermistor material layer（5）With the 3rd electrode layer（6）Temperature detection layer is formed together；3rd electrode layer（6）, piezoelectric material layer（7）With the 4th electrode layer（8）Decomposition pressure detection layers together；The first electrode layer（2）Including N（N≥2）A small electrode；2. circuit partThe circuit part includes front-end circuit and back-end circuit；The front-end circuit includes the first controller, second controller and the first multiplexer, the control of first controller Signal output part processed by the first multiplexer respectively with first electrode layer（2）The signal input part of N number of small electrode be connected, The control signal output and the second electrode lay of the second controller（4）, the 3rd electrode layer（6）Signal input part be connected；The back-end circuit includes first band pass filtering unit, the second bandpass filtering unit, low-pass filter unit, the first~the 3rd Analog-digital converter and central processing unit；The signal output part of the Humidity Detection layer is sequentially connected in series after first band pass filtering unit, the first analog-digital converter and center The moisture signal input terminal of processor is connected；The signal output part of the temperature detection layer is sequentially connected in series the second bandpass filtering list It is connected after member, the second analog-digital converter with the temperature signal input of central processing unit；The signal output of the pressure detecting layer End is connected after being sequentially connected in series low-pass filter unit, the 3rd analog-digital converter with the pressure signal input end of central processing unit.
- 2. artificial intelligence skin according to claim 1, it is characterised in that：The second electrode lay（4）Including M1（M1≥ 1）A small electrode, front-end circuit further include the second multiplexer；The control signal output of the second controller by the second multiplexer respectively with the second electrode lay（4）M1 Small electrode, the 3rd electrode layer（6）Signal input part be connected.
- 3. artificial intelligence skin according to claim 1 or 2, it is characterised in that：4th electrode layer（8）Including M2 （M2≥1）A small electrode.
- 4. artificial intelligence skin according to claim 1, it is characterised in that：The back-end circuit further includes the 3rd controller With excitation electrode layer；The signal output part of the central processing unit is connected with the signal input part of the 3rd controller, the control letter of the 3rd controller Number output terminal is with encouraging the signal input part of electrode layer to be connected.
- 5. artificial intelligence skin according to claim 2, it is characterised in that：The back-end circuit further includes the 3rd control Device, the 3rd multiplexer and excitation electrode layer；The excitation electrode layer includes M3 small excitation electrodes, the M3 >=N, and M3 takes the maximum of M1, M2, N three；The signal output part of the central processing unit is connected with the signal input part of the 3rd controller, the control letter of the 3rd controller Number output terminal is connected by signal input part of the 3rd multiplexer respectively with M3 small excitation electrode.
- 6. artificial intelligence skin according to claim 3, it is characterised in that：The back-end circuit further includes the 3rd control Device, the 3rd multiplexer and excitation electrode layer；The excitation electrode layer includes M3 small excitation electrodes, the M3 >=N, and M3 takes the maximum of M1, M2, N three；The signal output part of the central processing unit is connected with the signal input part of the 3rd controller, the control letter of the 3rd controller Number output terminal is connected by signal input part of the 3rd multiplexer respectively with M3 small excitation electrode.
- 7. a kind of method for detecting humiture and pressure, is realized, its feature using the artificial intelligence skin described in claim 1 It is that it includes the following steps carried out successively：First, it is by a frequency by the first controllerAC voltage/current signal output to the first multiplexer, first Multiplexer will be exported to first electrode layer after received AC voltage/current signal modulation（2）, pass through second controller It is by a frequencyAC voltage/current signal output to the 3rd electrode layer（6）And the second electrode lay（4）；Work as first electrode layer（2）R（R ∈ [1, N]）The humidity of the corresponding artificial intelligence skin appearance of small electrode changes When, humidity sensitive material layer（1）Dielectric constant change, produced between R small electrodes and small electrode adjacent thereto mutual Electrification holds, and Humidity Detection layer is by the AC analogue electric signal output containing the Inductance and Capacitance information to the first bandpass filtering list Member, when ambient temperature changes, thermistor material layer（5）Resistivity change, temperature detection layer will contain resistivity The AC analogue electric signal output of change is to the second bandpass filtering unit, when applying pressure to artificial intelligence skin, piezoresistive material The bed of material（7）Surface produces electric charge and further formation AC analogue electric signal, and pressure detecting layer is by the AC analogue electric signal Export to low-pass filter unit；Wherein,；2nd, first band pass filtering unit will be exported to the first analog-to-digital conversion after received AC analogue electric signal filtering process Device, the second bandpass filtering unit will be exported to the second analog-digital converter after received AC analogue electric signal filtering process, low Pass filtering unit will be exported to the 3rd analog-digital converter after received AC analogue electric signal filtering process；3rd, received AC analogue electric signal is converted into digital signal by the first analog-digital converter, and is exported to central processing unit, Received AC analogue electric signal is converted into digital signal by the second analog-digital converter, and is exported to central processing unit, the 3rd mould Received AC analogue electric signal is converted into digital signal by number converter, and is exported to central processing unit；4th, central processing unit will obtain first electrode layer after the received digital signal calculating processing of the first analog-digital converter（2） The corresponding artificial intelligence skin appearance of R small electrodes humidity value, central processing unit will be received from the second analog-digital converter Digital signal carries out obtaining temperature value after calculating processing, central processing unit will from the 3rd received digital signal of analog-digital converter into Pressure value is obtained after row calculating processing；5th, central processing unit is handled according to calculating humidity value, temperature value, pressure value are fed back accordingly.
- 8. the method for detection humiture according to claim 7 and pressure, it is characterised in that：The second electrode lay（4） Including M1（M1≥1）A small electrode, the 4th electrode layer（8）Including M2（M2≥1）A small electrode, front-end circuit are further included more than second Road modulator；The control signal output of the second controller by the second multiplexer respectively with the second electrode lay（4）M1 Small electrode, the 3rd electrode layer（6）Signal input part be connected；The step 1 includes the following steps carried out successively,A, it is by a frequency by the first controllerAC voltage/current signal output to the first multiplexer, more than first Road modulator will be exported to first electrode layer after received AC voltage/current signal modulation（2）, will by second controller One frequency isAC voltage/current signal output to the second multiplexer, the second multiplexer is by received alternating current Exported after pressure/current signal modulation to the second electrode lay（4）With the 3rd electrode layer（6）；B, first electrode layer is worked as（2）R（R ∈ [1, N]）The humidity of the corresponding artificial intelligence skin appearance of small electrode becomes During change, humidity sensitive material layer（5）Dielectric constant change, produced between R small electrodes and small electrode adjacent thereto Inductance and Capacitance, Humidity Detection layer is by the AC analogue electric signal output containing the Inductance and Capacitance information to the first bandpass filtering list Member, works as the second electrode lay（4）S（S ∈ [1, M1]）Near the corresponding artificial intelligence skin of small electrode during temperature change, temperature-sensitive Resistance elements（5）Resistivity change, S small electrodes, the 3rd electrode layer（6）And thermistor material layer（5）Composition S temperature detections layer unit by the AC analogue electric signal output containing change in resistance to the second bandpass filtering unit, when 4th electrode layer（8）T（T ∈ [1, M2]）During the pressure change of the corresponding artificial intelligence outer surface of the skin of small electrode, piezoelectricity Material layer（7）Surface produce electric charge and further formation AC analogue electric signal, T small electrodes, the 3rd electrode layer（6）And pressure Material layer（7）The T pressure detectings layer unit of composition is by the AC analogue electric signal output to low-pass filter unit；Wherein,；The step 4 is that central processing unit will obtain first after the received digital signal calculating processing of the first analog-digital converter Electrode layer（2）The corresponding artificial intelligence skin appearance of R small electrodes humidity value, central processing unit will be from the second analog-to-digital conversion The received digital signal of device obtains the second electrode lay after carrying out calculating processing（4）The corresponding artificial intelligence skin of S small electrodes Neighbouring temperature value, central processing unit obtain the 4th after carrying out calculating processing from the 3rd received digital signal of analog-digital converter Electrode layer（8）The corresponding artificial intelligence skin surface of T small electrodes pressure value.
- 9. the method for detection humiture according to claim 7 and pressure, it is characterised in that：The back-end circuit further includes 3rd controller and excitation electrode layer；The signal output part of the central processing unit is connected with the signal input part of the 3rd controller, the control letter of the 3rd controller Number output terminal is with encouraging the signal input part of electrode layer to be connected；In the step 4, central processing unit will obtain first after the received digital signal calculating processing of the first analog-digital converter Electrode layer（2）The corresponding artificial intelligence skin appearance of R small electrodes humidity value, and export to the 3rd controller, centre Reason device will carry out calculating from the received digital signal of the second analog-digital converter and handle to obtain temperature value, and export to the 3rd control Device, central processing unit obtains pressure value after carrying out calculating processing from the 3rd received digital signal of analog-digital converter, and exports To the 3rd controller；The step 5 is that by received humidity value, further the backward excitation electrode layer of processing sends corresponding control to the 3rd controller Signal processed, by received temperature value, further the backward excitation electrode layer of processing sends corresponding control signal to the 3rd controller, the By received pressure value, further the backward excitation electrode layer of processing sends corresponding control signal to three controllers；This method further includes step 6,6th, excitation electrode layer sends corresponding electric signal and exports to connecting/the signal input part of installation position.
- 10. the method for detection humiture according to claim 8 and pressure, it is characterised in that：The back-end circuit is also wrapped Include the 3rd controller, the 3rd multiplexer and excitation electrode layer；The excitation electrode layer includes M3 small excitation electrodes, the M3 >=N, and M3 takes the maximum of M1, M2, N three；The signal output part of the central processing unit is connected with the signal input part of the 3rd controller, the control letter of the 3rd controller The signal input part phase for the M3 small excitation electrode that number output terminal is included with excitation electrode layer respectively by the 3rd multiplexer Even；In the step 4, central processing unit will obtain first after the received digital signal calculating processing of the first analog-digital converter Electrode layer（2）The corresponding artificial intelligence skin appearance of R small electrodes humidity value, and export to the 3rd controller, centre Reason device obtains the second electrode lay after carrying out calculating processing from the received digital signal of the second analog-digital converter（4）The small electricity of S Temperature value near extremely corresponding artificial intelligence skin, and export to the 3rd controller, central processing unit and will turn from the 3rd modulus The received digital signal of parallel operation obtains the 4th electrode layer after carrying out calculating processing（8）The corresponding artificial intelligence skin of T small electrodes The pressure value on skin surface；The step 5 is that received humidity value is further handled backward 3rd multiplexer and sent accordingly by the 3rd controller Control signal, received temperature value further handles backward 3rd multiplexer and sends corresponding control by the 3rd controller Received pressure value is further handled backward 3rd multiplexer and sends corresponding control signal by signal, the 3rd controller；This method further includes step 6 and step 7,6th, will be with the relevant electric signal output of humidity after the 3rd multiplexer demodulates the received control signal of step 5 To and first electrode layer（2）The corresponding R of R small electrodes it is small excitation electrode layer unit, the electric signal related with temperature is defeated Go out to the second electrode lay（4）The corresponding S of S small electrodes it is small excitation electrode layer unit, by the electric signal with pressure correlation Output to the 4th electrode layer（8）The corresponding T of T small electrodes it is small excitation electrode layer unit；7th, the small excitation electrode layer units of R, the small excitation electrode layer units of S, the small excitation electrode layer units of T send phase respectively The electric signal answered simultaneously exports to respective and connects/the signal input part of installation position.
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| CN108489541B (en) * | 2018-03-21 | 2020-11-03 | 北京中硕众联智能电子科技有限公司 | Artificial skin and method for detecting pressure, temperature and humidity thereof |
| CN108709585B (en) * | 2018-03-21 | 2020-12-29 | 北京中硕众联智能电子科技有限公司 | Artificial skin and method for detecting pressure, temperature and humidity and adjusting temperature of artificial skin |
| CN109171647B (en) * | 2018-08-14 | 2021-06-11 | 上海常仁信息科技有限公司 | Healthy robot capable of detecting skin |
| CN110200636B (en) * | 2019-07-05 | 2024-02-02 | 北京中硕众联智能电子科技有限公司 | Plantar pressure sensor and method for detecting pressure, humidity and collecting energy by plantar pressure sensor |
| CN110584833A (en) * | 2019-10-17 | 2019-12-20 | 中国科学院长春光学精密机械与物理研究所 | Intelligent skin with touch sense and temperature sense |
| CN114190923B (en) * | 2021-09-18 | 2023-12-26 | 陕西科技大学 | Bio-based all-fiber self-powered multifunctional electronic skin and preparation method thereof |
| CN114608626A (en) * | 2022-02-28 | 2022-06-10 | 深圳市越疆科技有限公司 | Electrode, electronic skin, shell, mechanical arm and production method of electrode |
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