CN109141517A - A kind of contact type object recognition methods based on array pressure, temperature sensor - Google Patents
A kind of contact type object recognition methods based on array pressure, temperature sensor Download PDFInfo
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Abstract
The contact type object recognition methods based on array pressure, temperature sensor that the invention discloses a kind of, the following steps are included: carrying out the measurement of gravity contact area and the measurement of stress reaction contact area to standard item/object under test using array pressure sensor, quality information and distribution of force information are obtained；The measurement of temperature contact area is carried out to standard item/object under test using array temperature sensor, obtains temperature information；It is consistent whether judgment criteria object corresponds with the quality information of object under test, distribution of force information and temperature information, otherwise not identical if then object under test is identical as standard item.Compared to traditional technology, the present invention can prevent the accuracy that object identification is obscured and is conducive to improve object identification, be widely used in the fields such as scientific research, industry manufacture.
Description
Technical field
The present invention relates to object identification field, especially a kind of contact object based on array pressure, temperature sensor
Body recognition methods.
Background technique
Either scientific research or industrial manufacture view, robot are frequently necessary to distinguish similar material, product either
Satisfactory similar products are selected based on standard finished products, these will use object identification.Current object identification uses
Be general ordinary sensors, implementation is single contact point contact, and the practical spy of object cannot be recognized from various dimensions
Sign, therefore identify that judgement is more unilateral, accuracy is not high, and is based only upon the one-sided physical message of object generally to be examined
Identification is surveyed, generally relatively conventional is one of power or temperature, since object has the dual physical information of power and temperature, because
This only in the similar situation of one-sided physical characteristic, is easy to appear the case where object identification is obscured.
Summary of the invention
To solve the above-mentioned problems, it is connect the object of the present invention is to provide a kind of based on array pressure, temperature sensor
Touch object identification method prevents object identification and obscures, and is conducive to improve the accuracy of object identification.
In order to make up for the deficiencies of the prior art, the technical solution adopted by the present invention is that:
A kind of contact type object recognition methods based on array pressure, temperature sensor, comprising the following steps:
The measurement of gravity contact area is carried out to standard item/object under test using array pressure sensor and stress is anti-
It answers contact area to measure, obtains quality information and distribution of force information；
The measurement of temperature contact area is carried out to standard item/object under test using array temperature sensor, obtains temperature
Distributed intelligence；
Whether the quality information of judgment criteria object and object under test, distribution of force information and temperature distribution information are one a pair of
Should be consistent, it is otherwise not identical if then object under test is identical as standard item.
Further, the measurement of gravity contact area, packet are carried out to standard item/object under test using array pressure sensor
It includes:
Keep array pressure sensor horizontal positioned, standard item/object under test is placed in array pressure sensor
On with realize measurement.
Further, the survey of stress reaction contact area is carried out to standard item/object under test using array pressure sensor
Amount, comprising:
Keep standard item/object under test horizontal positioned, array pressure sensor is placed in standard item/object under test
On, apply a former pressure to array pressure sensor；
The value n times for changing former pressure, repeat the above steps；The n is the positive integer greater than zero.
Further, the measurement of temperature contact area, packet are carried out to standard item/object under test using array temperature sensor
It includes:
Keep array temperature sensor horizontal positioned, standard item/object under test, calorie source are stacked gradually and are placed in battle array
On column temperature sensor；
Calorie source set temperature and standard item/object under test testing setup temperature are set, according to calorie source and standard
Temperature difference transmitting between object/object under test, observation caliber object/object under test temperature variations.
Preferably, the n is 2, and the value of former pressure is 20N, and the pressure value after change is 60N and 100N.
Preferably, the calorie source set temperature and testing setup temperature are 37 DEG C and 20 DEG C, 33 DEG C with 25 DEG C, 20 DEG C with
37 DEG C or 25 DEG C with one of 33 DEG C or a variety of.
Further, standard item/object under test quality information, distribution of force information and temperature is obtained by host computer to become
Change information；Wherein, the array pressure sensor and array temperature sensor are all connected to host computer.
Further, the quality information of judgment criteria object and object under test, distribution of force information and temperature information are
It is no to correspond unanimously, it is otherwise not identical if then object under test is identical as standard item, comprising:
According to the quality information of acquisition, distribution of force information and temperature information, time pressure is drawn by host computer
Whether the homologous thread of relation curve and temperatur-timel curve, judgment criteria object and object under test is identical, if they are the same, then to be measured
Object is identical as standard item, otherwise not identical
The beneficial effects of the present invention are: being detected using array-type sensor, the contact between object can be realized
Contact area has the characteristics that various dimensions compared to single contact point, and the multiple spot in contact area can be detected, it can understands
To the multi-faceted information of object, be conducive to improve accuracy rate；Also, the aspect of power and temperature for object, all uses phase
Inductive sensing device measures, and carries out information comparison one by one to these aspects, it is therefore desirable to two aspect physical characteristics it is similar or
Identical that the two could be identified as to a kind of object, only the similar situation of one-sided physical characteristic cannot identify, it is possible to
Prevent object identification generation from obscuring.Therefore, the present invention can prevent object identification and obscure and be conducive to improve object identification
Accuracy is widely used in the fields such as scientific research, industry manufacture.
Detailed description of the invention
Present pre-ferred embodiments are provided, with reference to the accompanying drawing with the embodiment that the present invention will be described in detail.
Fig. 1 is step flow chart of the invention；
Fig. 2 is the result curve figure that different objects are carried out with the measurement of gravity contact area；
Fig. 3 is the result for carrying out the stress reaction contact area that former pressure is 20N to the irregular face of different objects and measuring
Curve graph；
Fig. 4 is the result song for carrying out the stress reaction contact area that former pressure is 20N to the regular face of different objects and measuring
Line chart；
Fig. 5 is the result for carrying out the stress reaction contact area that former pressure is 60N to the irregular face of different objects and measuring
Curve graph；
Fig. 6 is the result song for carrying out the stress reaction contact area that former pressure is 60N to the regular face of different objects and measuring
Line chart；
Fig. 7 is the result for carrying out the stress reaction contact area that former pressure is 100N to the irregular face of different objects and measuring
Curve graph；
Fig. 8 is the result song for carrying out the stress reaction contact area that former pressure is 100N to the regular face of different objects and measuring
Line chart；
Fig. 9 be calorie source set temperature and testing setup temperature be 37 DEG C with 20 DEG C when effect curve figure；
Figure 10 be calorie source set temperature and testing setup temperature be 20 DEG C with 37 DEG C when effect curve figure；
Figure 11 be calorie source set temperature and testing setup temperature be 25 DEG C with 33 DEG C when effect curve figure.
Specific embodiment
Referring to Fig.1, a kind of contact type object recognition methods based on array pressure, temperature sensor of the invention, packet
Include following steps:
The measurement of gravity contact area is carried out to standard item/object under test using array pressure sensor and stress is anti-
It answers contact area to measure, obtains quality information and distribution of force information；
The measurement of temperature contact area is carried out to standard item/object under test using array temperature sensor, obtains temperature
Distributed intelligence；
Whether the quality information of judgment criteria object and object under test, distribution of force information and temperature distribution information are one a pair of
Should be consistent, it is otherwise not identical if then object under test is identical as standard item.
Specifically, standard item is also possible to the object of known reference information；
In the present embodiment when analyzing quality information and distribution of force information, the two is represented using image format
Come, i.e., is converted into contact force image information, in order to observe the contact attributive character for telling object；In analysis Temperature Distribution
When information, it is showed using image format, that is, is converted into temperature pattern information, in order to observe the object for telling object
Manage attributive character；Two kinds of objects are compared by above image information, to judge the physical attribute and contact of object under test
Information carries out the intelligent recognition of object using machine tactile.
In order to realize object identification, this method uses array pressure sensor and array temperature sensor to measure
Object under test.In real life, human skin can regard the device of a Multi-sensor Fusion.Studies have shown that human body skin
Temperature of the supracutaneous thermoreceptor of skin to generation in Contact quickly changes very sensitive, the momentary variations in temperature of contact surface
There is relationship with initial temperature differences and by the configuration of surface of contact object, material, to make one to become according to the skin temperature of itself
Change to perceive what material the object of contact belongs to, is the wood or bubble of the good metal of heating conduction or heating conduction difference
Foam etc., therefore can be by the thermal properties of temperature tactile material for identification.But temperature information when just with contact,
When encountering thermally conductive similar object, possibly object can not be judged, then object is just placed in the palm or is gripped in hand by people
In, object is identified according to the quality of object, the reaction of the stress of object are soft or hard and temperature information etc..
In fact, the transfer of object pressure and temperature caused by skin can make skin when human skin contacts object
Clearly feel the size of contact area.In order to preferably simulate human body tactile, array pressure sensor and temperature are used
Sensor.Array-type sensor, as the term suggests to have multiple pixels on sensor, single pixel point can generate independent letter
Number variation.For example, the weight of object itself can apply pressure to pressure sensor when object is placed on thereon.To each pixel
It carries out independent numbering and records its location information, whether signal is generated by each pixel on array pressure sensor,
It can whether there is or not the judgements for carrying out contact area according to the signal of pixel.A kind of situation is, if object is placed on the array of 16*16
In, when the pixel that number is 6-12,22-28 ... 246-252 generates signal, so that it may according to pixel 6 and 12, pixel
The actual range of point 6 and 246 is long and wide to determine, to calculate the size of the two contact area.Array temperature is passed
Sensor, the temperature signal that can be generated according to pixel carry out the similar judgement of contact area size, do not repeat.
So in the method, measurement is all based on be in contact under the conditions of, i.e. contact type measurement, by making array
Pressure sensor and array temperature sensor are contacted to realize measurement with object.
Therefore, it being detected using array-type sensor, the contact area that can be realized between object contacts, compared to
Single contact point, has the characteristics that various dimensions, the multiple spot in contact area can be detected, it can recognize the multi-faceted letter of object
Breath is conducive to improve accuracy rate；Also, the aspect of power and temperature for object uses respective sensor all to be surveyed
Amount, and information comparison is carried out one by one to these aspects, it is therefore desirable to two aspect physical characteristics are similar or identical to know the two
Not Wei a kind of object, only the similar situation of one-sided physical characteristic cannot identify, it is possible to prevent object identification from generating
Obscure.Therefore, the present invention can prevent the accuracy that object identification is obscured and is conducive to improve object identification.
Further, the measurement of gravity contact area, packet are carried out to standard item/object under test using array pressure sensor
It includes:
Keep array pressure sensor horizontal positioned, standard item/object under test is placed in array pressure sensor
On to realize measurement, being arranged in this way ensure that and can well be contacted between array pressure sensor and object and contact phase
To stabilization, do not have to worry that object slides or falls in measurement, so that measurement be made to go on smoothly.
Further, the survey of stress reaction contact area is carried out to standard item/object under test using array pressure sensor
Amount, comprising:
Keep standard item/object under test horizontal positioned, array pressure sensor is placed in standard item/object under test
On, apply a former pressure to array pressure sensor；
The value n times for changing former pressure, repeat the above steps；The n is the positive integer greater than zero.
Specifically, pressure is applied come the contact surface to object and array pressure sensor by the transmitting of pressure, thus
Cause object to generate deformation, due to reaction force, it can also be poised for battle line pressure sensor and applies same power, thus realize by
Force information measurement, and by changing pressure value, it can analyze the stress condition of object under different situations, to better discriminate between mark
Quasi- object and object under test, actually n value can voluntarily be limited by technical staff.
Further, the measurement of temperature contact area, packet are carried out to standard item/object under test using array temperature sensor
It includes:
Keep array temperature sensor horizontal positioned, standard item/object under test, calorie source are stacked gradually and are placed in battle array
On column temperature sensor；
Calorie source set temperature and standard item/object under test testing setup temperature are set, according to calorie source and standard
Temperature difference transmitting between object/object under test, observation caliber object/object under test temperature variations.
Specifically, heat is transmitted by calorie source to realize the variation of object temperature, by observation temperature variations come
Obtain temperature information.
Preferably, the n is 2, and the value of former pressure is 20N, and the pressure value after change is 60N and 100N, this is applicant
According to the conclusion that experiment obtains, standard item and object under test can be distinguished according to test is carried out in this way, but in fact,
According to the difference of actual object material, attribute etc., can be tested according to actual needs with the power of other sizes, this programme
Described is only therein preferred, this is not limited.
Preferably, the calorie source set temperature and testing setup temperature are 37 DEG C and 20 DEG C, 33 DEG C with 25 DEG C, 20 DEG C with
37 DEG C or 25 DEG C with one of 33 DEG C or a variety of, setting is so that measurement data is more comprehensive in this way, existing temperature from high to low
Situation of change is spent, also there are temperature variations from low to high, and simulate 37 DEG C of body temperature and 33 DEG C of class body temperature, room temperature
20 DEG C and 25 DEG C the case where, are consistent substantially with the situation in the human contact external world, therefore real result is strong.
Further, standard item/object under test quality information, distribution of force information and temperature is obtained by host computer to become
Change information；Wherein, the array pressure sensor and array temperature sensor are all connected to host computer；According to the matter of acquisition
Information, distribution of force information and temperature information are measured, time pressure relation curve is drawn by host computer and time-temperature is bent
Whether the homologous thread of line, judgment criteria object and object under test is identical, and if they are the same, then object under test is identical as standard item,
Otherwise not identical.
Specifically, using the monitoring data of host computer receiving array formula pressure sensor and array temperature sensor, i.e.,
Corresponding metrical information, it is very succinct convenient, phase is drawn without artificially recording the data on sensor, and according to monitoring data
The figure line answered, the change curve of instant m- pressure and time-temperature, by comparing the variation of two articles under the same conditions
Whether curve is consistent, then can be determined that whether the two is same object, that is, realizes that intelligence compares, very convenient.
Specifically, brief description measurement process or principle:
Gravity contact area is measured, according to formula ρ=m/v (wherein quality: m, density: ρ, volume: v) it is found that
In the case where same volume, for different objects due to density difference, quality information is also different, therefore has chosen ten kinds of same sizes
Material is tested (wherein foam selection is polyethylene foams), and measurement result is as shown in Fig. 2, wherein ordinate is pressure
By force, gained can be calculated by formula p=F/S (pressure: P, pressure: F, contact area: S).
From the results, it was seen that the pressure that the material of different densities is poised for battle the application of line pressure sensor is not also identical, i.e.,
Density is bigger, and pressure is bigger.Such as traditional stainless steel and foam, in the case where same size, mass difference is more, from
It very big can also be distinguished in result figure, therefore its basis that can be used as object identification.
Stress reaction contact area is measured, is poised for battle line pressure sensor applied force, according to Newton's third law " phase
Active force and reaction force between two objects of interaction is always equal in magnitude, contrary, acts on same straight line
On " it is found that array pressure sensor can generate reaction force to object in turn, because can be realized measurement.Due to difference
Material has different elasticity modulus, Poisson's ratio etc., therefore after object is by the pressure applied from the external world, can generate difference
The deformation of degree.Manipulator application at present it is most be go to squeeze object under test using it, using it is integrated on a robotic arm
Single pressure sensor measures force feedback, since manipulator is rigid, can not be bonded object under test completely, and sense
Sensor spacing in device is larger, therefore is unable to measure the force feedback of all parts in object under test surface, may cause force feedback
As a result inaccuracy and it is inadequate, and the present invention utilize array pressure sensor flexible, can preferably simulate human body skin
Skin fitting object under test and the process for squeezing object, and object under test and human skin can be obtained by the pixel of small spacing
All force feedback informations of its contact surface when contact, wherein the force feedback information can be used to the soft or hard of judgment object, i.e. stress
Distributed intelligence judges that soft or hard method is consistent using tactile data with human body.Using 10 kinds of above-mentioned materials plus plastics come
It measures, the force feedback of object is measured by applying different pressure, as a result as shown in Fig. 3-Fig. 8.
It can be seen from the results that object can almost regard a rigid body as, to it when the hardness of object is greater than some value
Apply pressure, hardly happen deformation, the force feedback then obtained is equal to the pressure applied to it；When object is flexible material
When, obtained force feedback can then change according to the material property of object；
In addition, being directed to face of different shapes, apply different power to it, curve is generally different, but its in 20N, 60N and
Response curve trend under 100N be it is identical, i.e., the curvilinear trend in regular face is identical, and the curvilinear trend in irregular face is also identical,
Therefore in measurement, certain faces are selected without specially going, whether is it is regular, measurement is differentiated and is not had an impact.
In fact, in the same time, the force feedback that different pressure causes is different when applying different pressure
Sample, force feedback follow the increase of pressure and increase, although and by figure it should be apparent that force feedback is inconsistent, he
The curve graph shape drawn out it is similar, therefore object identification also may be implemented by such measurement method.
Temperature contact area is measured, is measured using above-mentioned ten kinds of materials, in calorie source set temperature and test
When set temperature is 37 DEG C and 20 DEG C, as a result as shown in figure 9, the temperature changing curve diagram of different materials is inconsistent, it may be implemented
Difference, and may be implemented to accurately identify by comparing the curve of standard item；Wherein the thermal conductivity of aluminium is best, and temperature change is most bright
Aobvious also most fast, for the materials such as acrylic fibers, foam due to poor thermal conductivity, temperature hardly happens variation.
When the temperature of exchange heating source and object under test, when calorie source set temperature and testing setup temperature are 20 DEG C and 37
DEG C when, object is contacted and is measured, the available measurement result such as Figure 10, the good object of thermal conductivity remains unchanged temperature change
Change acutely, other objects also have fraction of temperature decline variation, therefore according to its temperature dropping characteristic, that is, slope variation can
To be identified to object.
Due to being unable to test human body surface physical skin characteristic, in order to preferably simulate true human body touch temperature feedback
It is dropped at the temperature at which surface skin contact object, object is heated to 33 DEG C identical with human body surface skin using heating source
Afterwards, i.e., testing setup temperature is 33 DEG C, and heating source is arranged to 25 DEG C of room temperature, makes itself and object under test contact, measures to be measured
The temperature change of object.As shown in figure 11, in the case where this simulates true human body tactile, the temperature change of object can be very
Good its temperature characterisitic of embodiment, the good object of thermal conductivity remains unchanged, and temperature change is violent, other objects also have at fraction of temperature
Drop variation, therefore object can be identified according to its temperature dropping characteristic, that is, slope variation.
In conclusion from the analysis to each method above it can be concluded that, can be preferable using array temperature sensor
The object of different hot attributes is told on ground, the capture of temperature change point is realized by pixel thereon, to conveniently draw out figure
Line can further identify object according to its slope characteristics intuitively to observe the apparent object of identification, especially temperature change
Body, but if encountering the unconspicuous object of temperature change or the similar object of temperature change, it may appear that the feelings that object is obscured
Condition；Therefore array pressure sensor is added, on the basis of array temperature sensor to improve the accuracy of object identification；
In the measurement that stress reaction is force feedback, the unobvious i.e. object such as foam, acrylic fibers of poor thermal conductivity etc. of temperature change is externally
The presser sensor that boundary applies generates pressure sensor since the material property of itself causes deformation quantity after by ambient pressure big
Force feedback to be also not so good as rigid body obvious, but but respectively have the characteristics that.Therefore can be on the basis of temperature characterisitic, further basis
Force Feedback Characteristics identify the object of poor thermal conductivity；In order to guarantee the accuracy of object identification, add on the basis of above-mentioned
Judgment basis of the force information as object identification is aggravated, in same volume, different objects is big due to different density
Small, quality is also different, since array pressure sensor is the instrument of an accurate quantization, in gravity measurement,
Can be clearly seen that can be accurately obtained the object to the gravity of sensor by it, and not according to material property
Together, result is also different.Therefore the message complementary sense that (force feedback) three is reacted using temperature, gravity, stress, can be more preferable
Realization object identification.
Presently preferred embodiments of the present invention and basic principle is discussed in detail in the above content, but the invention is not limited to
Above embodiment, those skilled in the art should be recognized that also have on the premise of without prejudice to spirit of the invention it is various
Equivalent variations and replacement, these equivalent variations and replacement all fall within the protetion scope of the claimed invention.
Claims (8)
1. a kind of contact type object recognition methods based on array pressure, temperature sensor, which is characterized in that including following step
It is rapid:
The measurement of gravity contact area is carried out to standard item/object under test using array pressure sensor and stress reaction connects
Area measurement is touched, quality information and distribution of force information are obtained；
The measurement of temperature contact area is carried out to standard item/object under test using array temperature sensor, obtains Temperature Distribution
Information；
Whether the quality information of judgment criteria object and object under test, distribution of force information and temperature distribution information correspond one
It causes, it is otherwise not identical if then object under test is identical as standard item.
2. a kind of contact type object recognition methods based on array pressure, temperature sensor according to claim 1,
It is characterized in that, the measurement of gravity contact area is carried out to standard item/object under test using array pressure sensor, comprising:
Keep array pressure sensor horizontal positioned, standard item/object under test is placed on array pressure sensor
To realize measurement.
3. a kind of contact type object recognition methods based on array pressure, temperature sensor according to claim 1,
It is characterized in that, the measurement of stress reaction contact area, packet is carried out to standard item/object under test using array pressure sensor
It includes:
Keep standard item/object under test horizontal positioned, by array pressure sensor be placed in standard item/object under test it
On, apply a former pressure to array pressure sensor；
The value n times for changing former pressure, repeat the above steps；The n is the positive integer greater than zero.
4. a kind of contact type object recognition methods based on array pressure, temperature sensor according to claim 1,
It is characterized in that, the measurement of temperature contact area is carried out to standard item/object under test using array temperature sensor, comprising:
Keep array temperature sensor horizontal positioned, standard item/object under test, calorie source are stacked gradually and are placed in array
On temperature sensor；
Set calorie source set temperature and standard item/object under test testing setup temperature, according to calorie source and standard item/
Temperature difference transmitting between object under test, observation caliber object/object under test temperature variations.
5. a kind of contact type object recognition methods based on array pressure, temperature sensor according to claim 3,
It is characterized in that, the n is 2, and the value of former pressure is 20N, and the pressure value after change is 60N and 100N.
6. a kind of contact type object recognition methods based on array pressure, temperature sensor according to claim 4,
Be characterized in that, the calorie source set temperature and testing setup temperature are 37 DEG C and 20 DEG C, 33 DEG C with 25 DEG C, 20 DEG C with 37 DEG C or
25 DEG C with one of 33 DEG C or a variety of.
7. a kind of contact type object recognition methods based on array pressure, temperature sensor according to claim 1,
It is characterized in that, standard item/object under test quality information, distribution of force information and temperature change is obtained by host computer and believed
Breath；Wherein, the array pressure sensor and array temperature sensor are all connected to host computer.
8. a kind of contact type object recognition methods based on array pressure, temperature sensor according to claim 7,
It is characterized in that, one by one whether quality information, distribution of force information and the temperature information of judgment criteria object and object under test
It is corresponding consistent, it is otherwise not identical if then object under test is identical as standard item, comprising:
According to the quality information of acquisition, distribution of force information and temperature information, time pressure relationship is drawn by host computer
Whether the homologous thread of curve and temperatur-timel curve, judgment criteria object and object under test is identical, if they are the same, then object under test
It is identical as standard item, it is otherwise not identical.
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|---|---|---|---|---|
| CN110031074A (en) * | 2019-03-21 | 2019-07-19 | 钛深科技(深圳)有限公司 | Taxonomy of goods recognition methods and its system based on pressure sensing array |
| US20220333961A1 (en) * | 2019-08-29 | 2022-10-20 | Siemens Aktiengesellschaft | Sensor Element and Device for Measuring Process Parameters in a Sintering Plant |
| US11828622B2 (en) * | 2019-08-29 | 2023-11-28 | Siemens Aktiengesellschaft | Sensor element and device for measuring process parameters in a sintering plant |
| CN113237567A (en) * | 2021-04-23 | 2021-08-10 | 广州碳思科技有限公司 | Device and method for recognizing object contour based on temperature difference |
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