CN114571503A - Multi-electrode-layer stacked electronic skin, proximity sensing method, mechanical arm and robot - Google Patents
Multi-electrode-layer stacked electronic skin, proximity sensing method, mechanical arm and robot Download PDFInfo
- Publication number
- CN114571503A CN114571503A CN202210190386.1A CN202210190386A CN114571503A CN 114571503 A CN114571503 A CN 114571503A CN 202210190386 A CN202210190386 A CN 202210190386A CN 114571503 A CN114571503 A CN 114571503A
- Authority
- CN
- China
- Prior art keywords
- electrode
- electrode layer
- electrodes
- approaching
- electronic skin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 66
- 239000004020 conductor Substances 0.000 claims abstract description 43
- 239000003990 capacitor Substances 0.000 claims abstract description 15
- 230000001788 irregular Effects 0.000 claims description 5
- 230000008447 perception Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 12
- 238000013459 approach Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 239000004642 Polyimide Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- -1 polyethylene terephthalate Polymers 0.000 description 1
- 229920000139 polyethylene terephthalate Polymers 0.000 description 1
- 239000005020 polyethylene terephthalate Substances 0.000 description 1
- 229920001721 polyimide Polymers 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention discloses a multi-electrode-layer stacked electronic skin, a proximity sensing method, a mechanical arm and a robot, wherein the multi-electrode-layer stacked electronic skin comprises: a first electrode layer including a first electrode capable of forming a capacitance with an adjacent conductor; the second electrode layer comprises at least one second electrode, the area of all the second electrodes is smaller than that of the first electrodes, and all the second electrodes and the close conductors can form a capacitor; the first electrode layer and the second electrode layer are stacked, and projections of all the second electrodes in the vertical direction are located on the first electrodes. The multi-electrode-layer stacked electronic skin can realize accurate perception of the specific direction of an approaching object while ensuring a larger sensing range (including a detection distance and an orthographic projection detection area).
Description
Technical Field
The invention relates to the technical field of sensing, in particular to a multi-electrode-layer stacked electronic skin, a proximity sensing method, a mechanical arm and a robot.
Background
With the rapid development of sensing technology, electronic skins are gradually appearing in the public vision and are applied to numerous fields such as medical treatment, wearable equipment, robots and the like.
The electronic skin can be attached to the surface of the robot, so that the electronic skin has a sensing system similar to human skin, and the electronic skin is helped to acquire external environment information so as to make a corresponding response action. However, the existing electronic skin can only sense the approaching of an object, has single sensing precision, and cannot further identify the specific direction of the approaching object.
Disclosure of Invention
The invention mainly aims to provide a multi-electrode-layer stacked electronic skin, and aims to solve the technical problem that the existing electronic skin cannot accurately sense the specific direction of an approaching object.
To achieve the above object, the present invention provides a multi-electrode layer stacked electronic skin, including:
a first electrode layer including a first electrode capable of forming a capacitance with an adjacent conductor; and
the second electrode layer comprises at least one second electrode, the area of all the second electrodes is smaller than that of the first electrodes, and all the second electrodes and the close conductors can form a capacitor;
the first electrode layer and the second electrode layer are stacked, and projections of all the second electrodes in the vertical direction are located on the first electrodes.
The second electrode layer comprises a second electrode, and the projection of the central point of the second electrode and the central point of the first electrode is overlapped or adjacent; or the like, or, alternatively,
the second electrode layer comprises two second electrodes which are arranged at intervals and symmetrically; or the like, or a combination thereof,
the second electrode layer comprises more than two second electrodes, and the second electrodes are arranged at intervals and surround a central point.
Wherein the multi-electrode layer stacked electronic skin further comprises:
the third electrode layer comprises at least one third electrode, and the third electrode and the adjacent conductor can form a capacitor;
the third electrodes and the second electrodes are crossed or arranged in a staggered mode, and the projections of all the third electrodes in the vertical direction are located on the first electrodes.
The area of the third electrode layer is smaller than that of the second electrode layer, and projections of all the third electrodes in the vertical direction are located on the second electrode layer.
Wherein the first electrode and/or the second electrode and/or the third electrode is/are at least one of circular, fan-shaped, polygonal or irregular patterns.
The multi-electrode-layer stacked electronic skin further comprises insulating layers arranged among the first electrode layer, the second electrode layer and the third electrode layer and on the outer sides of the first electrode layer, the second electrode layer and the third electrode layer, and two adjacent insulating layers are attached to form independent sealing for each electrode positioned in the insulating layers.
Wherein the multi-electrode layer stacked electronic skin further comprises:
and the detection circuit is respectively connected with the electrodes of the electrode layers and is used for generating an electric signal representing the capacitance or the variation thereof.
The invention provides a proximity sensing method, which comprises the following steps:
detecting whether the first electrode layer detects that an object is approaching or not;
and if so, detecting whether the second electrode layer in the orthographic projection area of the first electrode layer detects that the object is approaching or not, and executing a motion strategy according to the detection result of the second electrode layer.
Wherein, the step of executing the motion strategy according to the detection result of the second electrode layer comprises:
and when the detection result is yes, acquiring electrode area information of the second electrode layer, which is detected to be approaching by the object, and determining the approaching direction and position information of the object according to the electrode area information.
Wherein the step of determining the approaching direction and position information of the object based on the electrode area information comprises:
when the plurality of electrode regions simultaneously detect that the object is approaching, the number of the approaching object is judged according to whether the plurality of electrode regions are all adjacent.
The invention also provides a mechanical arm, which comprises the multi-electrode-layer stacked electronic skin.
The invention also provides a robot, which comprises the mechanical arm.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
in the multi-electrode-layer stacked electronic skin, the second electrode layers and the first electrode layers are stacked, wherein the areas of all the second electrodes of the second electrode layers are smaller than those of the first electrodes of the first electrode layers, and the projections of all the second electrodes in the vertical direction are positioned on the first electrodes, so that the detection distance of the second electrode layers is smaller than that of the first electrode layers; when the conductor is close to the multi-electrode-layer stacked electronic skin, the conductor can be judged to enter the detection range of the first electrode layer according to the detected capacitance change of the first electrode; further, if it is detected that all or part of the second electrodes in the second electrode layer generate capacitance change, it is determined that the conductor enters the detection range of the second electrode layer, and the position of the conductor is accurately known according to which specific second electrode generates capacitance change; in short, the electronic skin can realize accurate perception of the specific orientation of an approaching object while ensuring a larger sensing range (comprising a detection distance and an orthographic projection detection area).
Drawings
FIG. 1 is a schematic diagram of an electrode layer layout of a multi-electrode-layer stacked electronic skin according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an electrode layer layout of a multi-electrode-layer stacked electronic skin according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an electrode layer layout of a multi-electrode-layer stacked electronic skin according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an electrode layer layout of a multi-electrode-layer stacked electronic skin according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an electrode layer layout of a multi-electrode-layer stacked electronic skin according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an electrode layer layout of a multi-electrode-layer stacked electronic skin according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an electrode layer layout of a multi-electrode-layer stacked electronic skin in an embodiment of the invention;
FIG. 8 is a schematic diagram of an electrode layer layout of a multi-electrode-layer stacked electronic skin in an embodiment of the invention;
FIG. 9 is a schematic diagram of an electrode layer layout of a multi-electrode-layer stacked electronic skin in accordance with an embodiment of the present invention;
FIG. 10 is a schematic diagram of an electrode layer layout of a multi-electrode-layer stacked electronic skin in accordance with an embodiment of the present invention;
FIG. 11 is a schematic diagram of a multi-electrode-layer stacked electronic skin according to an embodiment of the invention;
FIG. 12 is a schematic diagram of a multi-electrode-layer stacked electronic skin according to an embodiment of the invention;
FIG. 13 is a flow chart of a proximity sensing method according to an embodiment of the present invention;
FIG. 14 is a flow chart of a proximity sensing method according to an embodiment of the present invention;
FIG. 15 is a flowchart illustrating a proximity sensing method according to an embodiment of the present invention.
Detailed Description
In the following, the embodiments of the present invention will be described in detail with reference to the drawings in the following, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiments herein relate generally to an electronic skin for proximity sensing with an object in proximity or contact thereto using self-capacitance sensing principles (mutual capacitance sensing principles may also apply the provisions of the present invention), and further applications thereof, such as: the robot is provided with a mechanical arm with electronic skin. In the present invention, the electronic skin is mainly used as a sensing element of an object disposed on the robot arm as being close to or in contact with the robot arm.
Referring to fig. 1 and 2, fig. 1 and 2 are schematic electrode layer layouts of a multi-electrode layer stacked electronic skin according to an embodiment of the present invention, respectively:
the invention provides a multi-electrode layer stacked electronic skin, which comprises:
a first electrode layer 100, the first electrode layer 100 including a first electrode 101, the first electrode 101 being capable of forming a capacitance with a conductor in proximity thereto; and
the second electrode layer 200, the second electrode layer 200 includes at least one second electrode 201, all the second electrodes 201 are smaller than the first electrode 101 in area, all the second electrodes 201 can form capacitance with the conductor close to;
the first electrode layer 100 and the second electrode layer 200 are stacked, and projections of all the second electrodes 201 in the vertical direction are located on the first electrode 101.
In the multi-electrode-layer stacked electronic skin of the present embodiment, as its constituent layers, the first electrode layer 100 includes a first electrode 101, the second electrode layer 200 includes at least one second electrode 201, and the electrodes included in each of the first electrode layer 100 and the second electrode layer 200 can form a capacitance with a conductor in proximity. One electrode is respectively equivalent to a single plate of the capacitor and can be connected with the detection circuit, namely a plurality of electrodes and the detection circuit are correspondingly combined to be equivalent to a plurality of capacitance sensors, and the combination of the electrodes in the electrode layer and the detection circuit meets the conditions of the capacitor and also meets the conditions of converting the measured physical quantity or mechanical quantity into capacitance change so that the detection circuit can actively detect the capacitance change by methods of exciting LC oscillation or rapid charge and discharge and the like. The capacitance sensor converts the distance change between the approaching object and the electrode of the electrode layer into the capacitance change of the capacitor, and the capacitance of the capacitor is calculated through the detection circuit, so that the distance between the approaching object and the electrode of the electrode layer is obtained. Therefore, when the capacitance change of the electrode of which electrode layer is detected, the conductor can be judged to enter the detection range of the electrode layer.
The first electrode 101 and the second electrode 201 may be made of a metal material such as copper or gold. The first electrode 101 and the second electrode 201 may be provided in the same shape or different shapes, and the provided shape may be circular, rectangular, or the like, which is selected according to actual situations. Taking the case that the second electrode layer 200 includes one second electrode 201 as an example, as shown in fig. 1, the first electrode 101 and the second electrode 201 are configured in the same shape, and both are rectangular; for another example, as shown in fig. 2, the first electrode 101 and the second electrode 201 are different in shape, the first electrode 101 is rectangular, and the second electrode 201 is circular. The foregoing is illustrative only and not limiting.
Of course, besides the first electrode layer 100 and the second electrode layer 200, the electronic skin may be provided with other component layers, which may be other electrode layers or insulating layers, and the positional relationship between the other component layers and the first electrode layer 100 and the second electrode layer 200 may be set according to actual situations. In addition, in the present invention, when a plurality of electrodes are provided in an electrode layer, the plurality of electrodes are disposed in a flat manner in the electrode layer, and adjacent electrodes are insulated from each other at intervals.
The first electrode layer 100 and the second electrode layer 200 are stacked, and specifically, the second electrode layer 200 may be disposed above or below the first electrode layer 100. Further, the detection range of the electrode layer is determined by the area of the electrode, the area of all the second electrodes 201 is smaller than that of the first electrode 101, and the projections of all the second electrodes 201 in the vertical direction are located on the first electrode 101, so that the detection distance of the second electrode layer 200 is smaller than that of the first electrode layer 100. The size of the area of the first electrode 101 and the second electrode 201 and the area ratio therebetween are set according to the actual situation, and are not limited herein.
Taking the electrode layer arrangement shown in fig. 1 as an example, it is assumed that in the case where the first electrode 101 and all the second electrodes 201 are different in specific area, the detection distance of the first electrode layer 100 is 10cm, and the detection distance of the second electrode layer 200 is 5 cm. When the initial time point of capacitance change of the first electrode 101 is detected, the approaching conductor enters the detection range of the first electrode layer 100, and the distance between the approaching conductors is 10 cm; on the basis, at the initial time point when the capacitance change of the second electrode 201 is detected, the approaching conductor enters the detection range of the second electrode layer 200, and the distance between the approaching conductors is 5 cm.
It is easy to understand that when only the capacitance change of the first electrode 101 is detected, the conductor enters the detection range of the first electrode layer 100, which is staggered with the second electrode layer 200; when the capacitance change of the first electrode 101 and the second electrode 201 is detected, the conductor enters a detection range where the first electrode layer 100 and the second electrode layer 200 are overlapped.
That is, when a conductor approaches to the stacked electronic skin of the multi-electrode layer, the conductor can be determined to enter the detection range of the first electrode layer 100 according to the detected capacitance change of the first electrode 101; further, if it is detected that all or a part of the second electrodes 201 in the second electrode layer 200 generate capacitance change, it is determined that the conductor enters the detection range of the second electrode layer 200, and the position of the conductor is accurately known according to which second electrode 201 generates capacitance change.
In short, the electronic skin can realize accurate perception of the specific orientation of the approaching object while ensuring a larger sensing range (including a detection distance and an orthographic detection area).
Referring to fig. 1, 2 and 3 to 7, fig. 3 to 7 are schematic electrode layer layouts of a multi-electrode-layer stacked electronic skin according to an embodiment of the present invention:
in some embodiments, the second electrode layer 200 includes a second electrode 201, and a center point of the second electrode 201 overlaps or is adjacent to a center point projection of the first electrode 101; or the like, or, alternatively,
the second electrode layer 200 comprises two second electrodes 201, and the two second electrodes 201 are arranged at intervals and symmetrically; or the like, or, alternatively,
the second electrode layer 200 includes two or more second electrodes 201, and a plurality of second electrodes 201 are spaced apart and arranged around a central point.
In this embodiment, the second electrode 201 in the second electrode layer 200 has a plurality of arrangement forms, and the arrangement forms of the second electrodes 201 are different according to the number of the second electrodes 201.
Specifically, referring to fig. 1 and fig. 2, when the second electrode layer 200 includes only one second electrode 201, the central point of the second electrode 201 is specifically set to overlap or be adjacent to the projection of the central point of the first electrode 101, and the second electrode 201 is relatively located at the middle position of the first electrode 101. When the first electrode 101 detects that the approaching distance of the conductor is smaller than the detection distance of the second electrode 201, if it is detected that the second electrode 201 generates capacitance change, it can be determined that the conductor is approaching from the position corresponding to the second electrode 201, that is, the middle position of the first electrode 101; if no capacitance change is detected in the second electrode 201, it can be determined that the conductor is approaching from another direction, i.e. the edge position of the first electrode 101.
Referring to fig. 3 and 4, when the second electrode layer 200 includes two second electrodes 201, the two second electrodes 201 are arranged to be spaced apart and symmetrically. Preferably, a symmetric point between the two second electrodes 201 may overlap or be adjacent to the projection of the center point of the first electrode 101, and when only one of the second electrodes 201 is detected to generate a capacitance change, it may be determined that the conductor is approaching from the position corresponding to the second electrode 201; when the capacitance change generated by the two second electrodes 201 is detected at the same time, it can be determined that the conductor is approaching from the corresponding position of the two second electrodes 201, such as the middle position of the first electrode 101.
Referring to fig. 5 to 7, the second electrode layer 200 includes more than two second electrodes 201, and a plurality of second electrodes 201 are spaced apart and arranged around a central point. Preferably, the center point surrounded by the plurality of second electrodes 201 may overlap or be adjacent to the center point projection of the first electrode 101, and when only one of the second electrodes 201 is detected to generate capacitance change, it may be determined that the conductor is approaching from the position corresponding to the second electrode 201; when the capacitance change generated by several adjacent second electrodes 201 is detected at the same time, it can be determined that the conductor is approaching from the corresponding direction of the second electrodes 201; when the capacitance change of all the second electrodes 201 is detected at the same time, it can be determined that the conductor is approaching from the corresponding position of the plurality of second electrodes 201, such as the middle position of the first electrode 101.
The above arrangement layout is correspondingly made according to various situations where the number of the second electrodes 201 in the second electrode layer 200 is different, so that the object orientation can be conveniently judged.
Referring to fig. 8 to 10, fig. 8 to 10 are schematic electrode layer layouts of a multi-electrode-layer stacked electronic skin according to an embodiment of the present invention:
in some embodiments, the multi-electrode layer stacked electronic skin further comprises:
a third electrode layer 300, wherein the third electrode layer 300 comprises at least one third electrode 301, and the third electrode 301 and a conductor close to the third electrode can form a capacitor;
each third electrode 301 crosses or is arranged offset from each second electrode 201, and the projections of all the third electrodes 301 in the vertical direction are on the first electrode 101.
In this embodiment, the third electrode layer 300 is a component layer of a multi-electrode-layer stacked electronic skin, and the third electrode layer 300 can be disposed above or below the first electrode layer 100/the second electrode layer 200, and the third electrode layer 300 is disposed between the first electrode layer 100 and the second electrode layer 200; the third electrode layer 300 includes at least one third electrode 301, and the third electrode 301 can form a capacitor with the adjacent conductor in accordance with the first electrode 101 and the second electrode 201, and reference can be made to the working principle of the electrodes in the foregoing embodiments.
Wherein, the third electrode 301 is arranged to intersect with the second electrode 201, i.e. the projection of the third electrode 301 and the second electrode 201 in the vertical direction partially overlaps. The crossing arrangement of the third electrode 301 and the second electrode 201 can be various, as shown in fig. 8 and 9, the third electrode 301 is a block, the second electrodes 201 are multiple blocks, the multiple blocks of the second electrodes 201 have the same area and are arranged around a central point, and the third electrode 301 is located at the central point and overlaps with the projection part of each second electrode 201 in the vertical direction; as shown in fig. 10, the third electrodes 301 and the second electrodes 201 are both multiple and have the same area, the multiple third electrodes 301 are sequentially arranged side by side, the multiple second electrodes 201 are sequentially arranged side by side, that is, arranged in an array-type cross manner, and the projection portions of the third electrodes 301 and the second electrodes 201 in the vertical direction are overlapped.
Alternatively, the third electrode 301 and the second electrode 201 are arranged in a staggered manner, i.e. the projections of the third electrode 301 and the second electrode 201 in the vertical direction do not overlap at all. The effect of this arrangement is consistent with the effect of using the plurality of second electrodes 201 without the third electrode layer 300 and the second electrode layer 200, one is that the plurality of electrodes are arranged on the same layer (the plurality of second electrodes 201 of the second electrode layer 200), and the other is that the plurality of electrodes are arranged on different layers (the plurality of second electrodes 201 of the second electrode layer 200 and the plurality of third electrodes 301 of the third electrode layer 300), which are only the difference that the plurality of electrodes are arranged on the same layer or in layers.
However, the third electrode 301 and the second electrode 201 may have the same area or different areas regardless of the crossing arrangement or the offset arrangement, and are provided according to specific situations.
Based on the crossing arrangement or the dislocation arrangement of the third electrodes 301 and the second electrodes 201, if it is detected whether the capacitance change is generated in all or part of the second electrodes 201 in the second electrode layer 200 and/or all or part of the third electrodes 301 in the third electrode layer 300, it is determined that the conductor enters the detection range of the second electrode layer 200 and/or the third electrode layer 300; and comprehensively judging the position of the conductor according to the specific capacitance change generated by the second electrode 201 and/or the third electrode 301. Taking the electrode layer arrangement shown in fig. 10 as an example, four second electrodes 201 are arranged from front to back in the second electrode layer 200, four third electrodes 301 are arranged from left to right in the third electrode layer 300, and the electrodes are arranged in an array type to form 16 orthographic projection detection areas, that is, 4 × 4. If the first left third electrode 301 and the previous third electrode 301 generate capacitance change, and the conductor is located at the position where the first left third electrode 301 and the previous third electrode 301 are overlapped in a staggered manner, it can be judged that the conductor is approaching from the position of the front left corner; if the first right third electrode 301 and the second third electrode 301 generate capacitance variation, accordingly, it can be determined that the conductor is approaching from the right rear corner. As for other cases, it can be deduced accordingly and will not be described more than here. By additionally arranging the third electrode layer 300, the measured direction information of the conductor is more accurate, and the positioning accuracy of the approaching object can be further improved.
In some embodiments, the area of the third electrode layer 300 is smaller than the area of the second electrode layer 200, and the projections of all the third electrodes 301 in the vertical direction are on the second electrode layer 200. In this embodiment, as shown in fig. 8 and 9, all the projections of the third electrodes 301 in the vertical direction are located on the second electrode layer 200, the area of the third electrode layer 300 is smaller than the area of the second electrode layer 200, that is, there is an area difference between the third electrode layer 300 and the second electrode layer 200, which can form a misalignment between the orthographic projection detection areas of the third electrode layer 300 and the second electrode layer 200, so as to facilitate determining the orientation of the object.
In some embodiments, the first electrode 101 and/or the second electrode 201 and/or the third electrode 301 is at least one of circular, fan-shaped, polygonal, or irregular in shape.
In this embodiment, the first electrode 101, the second electrode 201, and the third electrode 301 may be any one of a circle, a sector, a polygon, and an irregular pattern, and the patterns of the first electrode 101, the second electrode 201, and the third electrode 301 may be the same or different.
As shown in fig. 8, the number of the first electrodes 101 is one and rectangular, the number of the second electrodes 201 is four and rectangular, the four second electrodes 201 are combined into a rectangle, and the number of the third electrodes 301 is one and rectangular; as shown in fig. 9, the number of the first electrodes 101 is one and rectangular, the number of the second electrodes 201 is four and all rectangular, the four second electrodes 201 are combined into a rectangle, and the number of the third electrodes 301 is one and circular.
Alternatively, in one embodiment, the number of the first electrodes 101 is one and rectangular, the number of the second electrodes 201 is multiple and fan-shaped, the multiple second electrodes 201 are combined into a circle, and the number of the third electrodes 301 is one and circular or rectangular.
The above examples are only a few of the electrode arrangement methods of each electrode layer, but the present invention is not limited thereto, and the electrode arrangement method can be set according to actual conditions in specific applications.
Referring to fig. 11 and 12, fig. 11 and 12 are respectively schematic structural views of a multi-electrode layer stacked electronic skin according to an embodiment of the invention:
in some embodiments, the multi-electrode layer stacked electronic skin further includes insulating layers 400 disposed between and outside the first electrode layer 100, the second electrode layer 200, and the third electrode layer 300, and two adjacent insulating layers 400 are attached to form an independent seal for each electrode disposed therein.
The insulating layer 400 is made of an insulating material, such as polyimide or polyethylene terephthalate. For each of the first electrode layer 100, the second electrode layer 200, and the third electrode layer 300, the two corresponding adjacent insulating layers 400 are attached to each other at the peripheral edge thereof to seal the electrodes independently, thereby serving as an electrode insulator and an electrode protector.
In some embodiments, the multi-electrode layer stacked electronic skin further comprises:
and the detection circuit is respectively connected with the electrodes of the electrode layers and is used for generating an electric signal representing the capacitance or the variation thereof.
Wherein, the electrode of each electrode layer can reserve the electrical connection point, and detection circuitry is connected with the electrode of electrode layer through connecting the electrical connection point. When one electrode layer comprises a plurality of electrodes, the electric connection points on the electrodes can be arranged at adjacent positions of the plurality of electrodes, so that the wiring of the circuit can be detected conveniently. In addition, the detection circuit can be designed on an independent detection circuit board, and can also be integrated on a control circuit board and set according to actual conditions. When any electrode of any electrode layer and a close conductor form a capacitor, the detection circuit correspondingly generates an electric signal representing the capacitor or the variation thereof.
Referring to fig. 13, fig. 13 is a flowchart of a proximity sensing method according to an embodiment of the present invention:
the invention provides a proximity sensing method, which comprises the following steps:
step S100: detecting whether the first electrode layer 100 detects that an object is approaching;
step S200: if the detection result is yes, detecting whether the second electrode layer 200 located in the forward projection area of the first electrode layer 100 detects that an object is approaching, and executing a motion strategy according to the detection result of the second electrode layer 200.
The proximity sensing method proposed in this embodiment is mainly based on an electronic skin, which is mainly used for a sensing element disposed on a mechanical arm and used as an object approaching or contacting the mechanical arm. The electronic skin at least comprises a first electrode layer 100 and a second electrode layer 200, and electrodes in the first electrode layer 100 and the second electrode layer 200 can form capacitance with a proximity object so as to detect capacitance value or variation of the capacitance value, thereby sensing approach of the proximity object. When the electrodes in the first electrode layer 100 and/or the second electrode layer 200 form a capacitor with the approaching object, the detected capacitance value or the variation thereof is indicative of detecting that the object is approaching the first electrode layer 100 and/or the second electrode layer 200. As shown in fig. 1, the second electrode layer 200 is located in the orthographic projection region of the first electrode layer 100, the area of the second electrode layer 200 can be smaller than the area of the first electrode layer 100, and the detection range of the electrode layer is determined by the area, so the detection distance of the second electrode layer 200 is smaller than that of the first electrode layer 100.
In step S100, detecting whether the first electrode layer 100 detects an approaching object;
the detection results include two types:
firstly, if the detection result is negative, no object reaches the detection range of the first electrode layer 100, that is, no object is approaching, and the method is temporarily safe;
secondly, the detection result is that an object reaches the detection range of the first electrode layer 100, which means that the object is approaching and dangerous; meanwhile, it is further detected whether the second electrode layer 200 located in the forward projection area of the first electrode layer 100 detects that an object is approaching, and a motion strategy is executed according to the detection result of the second electrode layer 200, i.e., step S200.
Referring to fig. 14, fig. 14 is a flowchart of a proximity sensing method according to an embodiment of the present invention:
in some embodiments, the step of executing the motion strategy according to the detection result of the second electrode layer 200 includes:
step S210: when the detection result is yes, the electrode area information of the second electrode layer 200, in which the object is detected to be approaching, is obtained, and the approaching direction and position information of the object are determined according to the electrode area information.
Wherein, the second electrode layer 200 is divided into a plurality of electrode regions, each of which may be formed by a separate one of the electrodes. The electrode regions are mutually spaced and can form capacitance with an approaching object. When all or part of the electrode area of the second electrode layer 200 forms a capacitor with an approaching object, the capacitance value or the variation of the capacitance value can be detected. The shape and number of the electrode regions are not limited, for example, the electrode regions may be circular, fan-shaped, polygonal, irregular, or the like, and two or more electrode regions may be provided, as the case may be. When an object approaches the second electrode layer 200, the corresponding electrode region in the second electrode layer 200 and the approaching object form a capacitor to detect the capacitance value or the variation of the capacitance value, thereby sensing the approach of the object.
Taking the example of the arrangement of the electrode regions of the second electrode layer 200 shown in fig. 6 or 7, the second electrode layer 200 includes four electrode regions, which are arranged around a center point. When the electrode region at the front left corner of the second electrode layer 200 detects an approaching signal of an object, it can be determined that the object approaches from the front left corner direction of the second electrode layer 200; when the electrode area at the right rear corner of the second electrode layer 200 detects an approaching object signal, it can be determined that the object approaches from the right rear corner direction of the second electrode layer 200; when the electrode regions of the front left corner and the rear left corner of the second electrode layer 200 simultaneously detect the approaching signal of the object, it can be determined that the object is approaching from the left direction of the second electrode layer 200, and other situations can be deduced accordingly. Therefore, when the second electrode layer 200 detects an approaching signal of an object, the approaching direction and position information of the object can be determined according to the electrode region information of the second electrode layer 200, which detects the approaching of the object, that is, the specific direction of the approaching object in the electronic skin detection space can be obtained.
In addition, whether the second electrode layer 200 detects that the object is approaching or not is detected, and when the detection result is no, two situations are included:
firstly, the distance between the object and the second electrode layer 200 does not reach the detection distance of the second electrode layer 200, that is, the object is located between the detection distance of the first electrode layer 100 and the detection distance of the second electrode layer 200; secondly, the distance between the object and the second electrode layer 200 reaches the detection distance of the second electrode layer 200, but the object is located in the orthographic projection detection area of the first electrode layer 100 and outside the orthographic projection detection area of the second electrode layer 200. Therefore, when the detection result is negative, it can be determined whether the object reaches the second electrode 201 according to the result of the reaction distance obtained by determining whether the object reaches the second electrode 100 through the capacitance change of the first electrode layer, and a corresponding motion strategy is correspondingly implemented.
For example, based on the application of the electronic skin on the mechanical arm, corresponding to the first condition, it can be determined that the distance of the object is not very close, and the mechanical arm can avoid the object at a relatively slow speed; corresponding to the second situation, it can be determined that the distance between the objects is too close, and the mechanical arm can relatively fast avoid or stop.
In combination with the above motion strategy, it is detected whether the second electrode layer 200 detects that the object is approaching, and if so, it can also be determined that the object is too close, and the robot arm should relatively fast avoid or stop. Furthermore, during the avoidance process, planning of an avoidance direction and an avoidance path can be performed according to the obtained specific position of the approaching object in the electronic skin detection space.
In a preferred embodiment, the electronic skin further comprises a third electrode layer 300, the third electrode layer 300 is located within a forward projection area of the second electrode layer 200, and the third electrode layer 300 may overlap with projections of the plurality of electrode regions of the second electrode layer 200 in a vertical direction. The third electrode layer 300 may be combined with the second electrode layer 200 for detection in the same manner as the combined detection of the second electrode layer 200 and the first electrode layer 100, so that when the second electrode layer 200 detects that an object is approaching, by detecting whether the third electrode layer 300 detects that the object is approaching, the approaching specific orientation information of the object is further obtained, and the positioning accuracy of the specific orientation of the object is improved.
Referring to fig. 15, fig. 15 is a flowchart of a proximity sensing method according to an embodiment of the present invention:
in some embodiments, the step of determining the approaching direction and position information of the object based on the electrode area information comprises:
step S211: when the plurality of electrode regions simultaneously detect that the object is approaching, the number of the approaching object is judged according to whether the plurality of electrode regions are all adjacent.
When a plurality of electrode regions simultaneously detect that an object is approaching, there are cases where only one object is approaching or a plurality of objects are approaching. Taking the electrode regions of the second electrode layer 200 shown in fig. 6 or fig. 7 as an example, two electrode regions of the second electrode layer 200 detect the approaching object at the same time, for example, when only the adjacent front left and rear left electrode regions in the second electrode layer 200 detect the approaching object, it can be determined that there is one approaching object; when only the electrode regions at the front left corner and the rear right corner, which are not adjacent to each other, in the second electrode layer 200 detect that an object is approaching, it can be determined that there are at least two approaching objects, and the other situations can be deduced accordingly.
It should be noted that the number of the electrode regions of the second electrode layer 200 is not limited to the above example, and six, eight or other unequal numbers of the electrode regions may also be provided; that is, there is a case where, when a plurality of electrode regions at the same time detecting an approaching object are all adjacent, the approaching object is one; when a plurality of electrode areas which simultaneously detect that the object approaches are not all adjacent, the approaching objects are two or more than two unequal numbers. By knowing the number of approaching objects, further motion strategy deployment can be facilitated, such as planning avoidance directions, avoidance paths and the like.
The present invention further provides a robot arm, the robot arm includes the multi-electrode-layer stacked electronic skin described above, the specific structure of the multi-electrode-layer stacked electronic skin refers to the above embodiments, and the robot arm adopts all technical solutions of all the above embodiments, so that the robot arm at least has all technical effects brought by the technical solutions of the above embodiments, and details are not repeated here.
The present invention further provides a robot, which includes the aforementioned mechanical arm, and the specific structure of the mechanical arm refers to the above embodiments, and since the robot employs all technical solutions of all the above embodiments, the robot at least has all technical effects brought by the technical solutions of the above embodiments, and details are not repeated herein.
The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.
Claims (12)
1. A multi-electrode layer stacked electronic skin, comprising:
a first electrode layer including a first electrode that can form a capacitance with a conductor in proximity; and
the second electrode layer comprises at least one second electrode, the area of all the second electrodes is smaller than that of the first electrodes, and all the second electrodes and the close conductors can form a capacitor;
the first electrode layer and the second electrode layer are stacked, and projections of all the second electrodes in the vertical direction are located on the first electrodes.
2. The multi-electrode layer stacked electronic skin of claim 1,
the second electrode layer comprises a second electrode, and the projection of the central point of the second electrode is overlapped with or adjacent to the central point of the first electrode; or the like, or, alternatively,
the second electrode layer comprises two second electrodes which are arranged at intervals and symmetrically; or the like, or, alternatively,
the second electrode layer comprises more than two second electrodes, and the second electrodes are arranged at intervals and surround a central point.
3. A multi-electrode layer stacked electronic skin according to claim 1, further comprising:
a third electrode layer including at least one third electrode capable of forming a capacitance with an adjacent conductor;
each third electrode and each second electrode are crossed or arranged in a staggered mode, and the projections of all the third electrodes in the vertical direction are located on the first electrodes.
4. The multi-electrode layer stacked electronic skin of claim 3,
the area of the third electrode layer is smaller than that of the second electrode layer, and projections of all the third electrodes in the vertical direction are located on the second electrode layer.
5. The multi-electrode layer stacked electronic skin of claim 3,
the first electrode and/or the second electrode and/or the third electrode are/is at least one of circular, fan-shaped, polygonal or irregular patterns.
6. A multi-electrode-layer stacked electronic skin according to claim 3, further comprising insulating layers disposed between and outside the first electrode layer, the second electrode layer, and the third electrode layer, adjacent two of the insulating layers being attached to form separate seals for each electrode disposed therein.
7. A multi-electrode layer stacked electronic skin according to any of claims 1-6, further comprising:
and the detection circuit is respectively connected with the electrodes of each electrode layer and is used for generating an electric signal representing the capacitance or the variation thereof.
8. A proximity sensing method, comprising:
detecting whether the first electrode layer detects that an object is approaching or not;
and if so, detecting whether a second electrode layer in the orthographic projection area of the first electrode layer detects that an object is approaching or not, and executing a motion strategy according to the detection result of the second electrode layer.
9. The proximity sensing method of claim 8, wherein the step of executing a motion strategy according to the detection result of the second electrode layer comprises:
and when the detection result is yes, acquiring electrode area information of the second electrode layer, which is detected to be approaching by the object, and determining the approaching direction and position information of the object according to the electrode area information.
10. The proximity sensing method of claim 9, wherein the step of determining the approaching direction and position information of the object based on the electrode area information comprises:
when the electrode regions simultaneously detect that the object is approaching, the number of the approaching object is judged according to whether the electrode regions are all adjacent.
11. A robot arm comprising the multi-electrode layer stacked electronic skin according to any one of claims 1 to 7.
12. A robot comprising the robot arm of claim 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210190386.1A CN114571503A (en) | 2022-02-28 | 2022-02-28 | Multi-electrode-layer stacked electronic skin, proximity sensing method, mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210190386.1A CN114571503A (en) | 2022-02-28 | 2022-02-28 | Multi-electrode-layer stacked electronic skin, proximity sensing method, mechanical arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114571503A true CN114571503A (en) | 2022-06-03 |
Family
ID=81772137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210190386.1A Pending CN114571503A (en) | 2022-02-28 | 2022-02-28 | Multi-electrode-layer stacked electronic skin, proximity sensing method, mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114571503A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100033196A1 (en) * | 2008-08-08 | 2010-02-11 | Tokai Rubber Industries, Ltd. | Capacitive sensor |
| CN103026326A (en) * | 2010-05-14 | 2013-04-03 | 电子触控产品解决方案 | System and method for detecting locations of touches on a touch sensor |
| JP2013135179A (en) * | 2011-12-27 | 2013-07-08 | Ngk Spark Plug Co Ltd | Multilayer capacitor |
| CN110806223A (en) * | 2020-01-08 | 2020-02-18 | 腾讯科技（深圳）有限公司 | Flexible sensing system, proximity sensing method and device, intelligent robot and equipment |
| CN112673338A (en) * | 2018-07-10 | 2021-04-16 | 小利兰·斯坦福大学托管委员会 | Capacitive and tactile sensor and related sensing method |
| CN113386158A (en) * | 2021-05-17 | 2021-09-14 | 浙江大学 | Full-printing bionic super-sensing flexible robot skin |
| CN217494322U (en) * | 2022-02-28 | 2022-09-27 | 深圳市越疆科技有限公司 | Multi-electrode-layer stacked electronic skin, mechanical arm and robot |
-
2022
- 2022-02-28 CN CN202210190386.1A patent/CN114571503A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100033196A1 (en) * | 2008-08-08 | 2010-02-11 | Tokai Rubber Industries, Ltd. | Capacitive sensor |
| CN103026326A (en) * | 2010-05-14 | 2013-04-03 | 电子触控产品解决方案 | System and method for detecting locations of touches on a touch sensor |
| JP2013135179A (en) * | 2011-12-27 | 2013-07-08 | Ngk Spark Plug Co Ltd | Multilayer capacitor |
| CN112673338A (en) * | 2018-07-10 | 2021-04-16 | 小利兰·斯坦福大学托管委员会 | Capacitive and tactile sensor and related sensing method |
| CN110806223A (en) * | 2020-01-08 | 2020-02-18 | 腾讯科技（深圳）有限公司 | Flexible sensing system, proximity sensing method and device, intelligent robot and equipment |
| CN113386158A (en) * | 2021-05-17 | 2021-09-14 | 浙江大学 | Full-printing bionic super-sensing flexible robot skin |
| CN217494322U (en) * | 2022-02-28 | 2022-09-27 | 深圳市越疆科技有限公司 | Multi-electrode-layer stacked electronic skin, mechanical arm and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6703728B2 (en) | Near-contact sensor | |
| US9222846B2 (en) | Tactile sensor | |
| JP6076866B2 (en) | Capacitance type input device | |
| US11788905B2 (en) | Capacitance sensor | |
| US20140362040A1 (en) | Capacitive touch panel | |
| JP6041955B2 (en) | Pressure array sensor module, pressure array sensor module manufacturing method, monitoring system, and monitoring method using monitoring system | |
| CN104422718A (en) | Capacitive humidity sensor | |
| KR101991578B1 (en) | Tactile sensor for measuring of normal force, shear force and torsion force | |
| US20200409493A1 (en) | Touch panel and touch panel device | |
| KR20180017000A (en) | Sensor structure for improved touch and gesture decoding | |
| TW201738717A (en) | Sensor design for enhanced touch and gesture decoding | |
| KR101818307B1 (en) | Tactile sensor possible to detect a proximity | |
| CN105136344A (en) | Non-uniform electric field type robot tactile sensor and detecting method thereof | |
| CN217494322U (en) | Multi-electrode-layer stacked electronic skin, mechanical arm and robot | |
| CN108432138A (en) | Input unit with the function triggering carried out according to the operating force of measurement by capacitance or control and the adaptation carried out by capacitance touch detection | |
| US11906372B2 (en) | Capacitance sensor and measurement device | |
| CN114571503A (en) | Multi-electrode-layer stacked electronic skin, proximity sensing method, mechanical arm and robot | |
| KR102066329B1 (en) | Tactile sensor, and fabrication method of the same, and operation method of the same | |
| JP2017173985A (en) | Object sensor | |
| KR20120017258A (en) | Thin film charged body sensor | |
| TW201546690A (en) | Capacitive touch panel having approaching sensing function and scan method thereof | |
| US11740150B2 (en) | Electrostatic capacity sensor | |
| JP3644799B2 (en) | Tilt sensor | |
| JP2018006036A (en) | Electric field sensor | |
| CN217292407U (en) | Multi-electrode separation type electronic skin, mechanical arm and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |