CN101211190B - Mobile device - Google Patents
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- CN101211190B CN101211190B CN200610161773A CN200610161773A CN101211190B CN 101211190 B CN101211190 B CN 101211190B CN 200610161773 A CN200610161773 A CN 200610161773A CN 200610161773 A CN200610161773 A CN 200610161773A CN 101211190 B CN101211190 B CN 101211190B
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Abstract
The invention is a haptic sensor, which comprises a sensing layer, a pressure modulator, more than one pressure-sensing unit and a controlling unit. The sensing layer consists of a plurality of elastomers and the pressure modulator is connected with the sensing layer through pipelines to control the inner pressure of the elastomers. The pressure sensing unit can sense the pressure change inside the elastomers and the controlling unit is connected with the pressure modulator which can receive the sensing signals produced by the pressure-sensing unit and the pressure-sensing unit. Through covering the surface of a movable device with the haptic sensor, the magnitude and position of the touch external force can be known by sensing the pressure change of the gasbag inside the elastomers and also different degrees of softness can be presented by means of gas supply to change the inner pressure of the gasbag inside the elastomers.
Description
Technical field
What the present invention relates to is a kind of sensing device, but refer in particular to the formed air bag of resilient material (elasticmaterial) is made the array type arrangement, rely on sensing air bag pressure inside to change and change with a kind of tactile sensor that presents different pliabilitys and the movable device that uses described device to understand size and the position of touching external force and to change the air bag internal pressure by means of air feed.
Background technology
Therefore traditionally, the outward appearance of robot, toy, static carrier or dynamic carrier device all is stiff mechanism assembly, often gives that the people is cold to complete gutless sensation.Progress along with science and technology, class devices such as aforesaid robot or toy have had the correlation technique that can give expression to the perception in the sense of touch gradually, but these technology major parts still rely on mechanical switch sensor, or attach on sense of touch or strength sensor and the surface thereof.For example: the robot that the disclosed a kind of whole body of Japanese publication JP200527983 has interactive tactilely-perceptible, it is to utilize piezoelectric element to be attached to the sensor of the whole body of robot as tactile sensing, with sensing contact strength or contact position.Though described technology can allow the surface of device have the ability of perception, but still can't break away from stiff contact appearance.
Except the stiff problem of appearance, the surface of aforesaid movable device or carrier also can't change its flexibility.The feature that has pliability for the modifier surface, prior art such as U.S. bulletin patent US.Pat.No.5,373747 disclosed a kind of fingers that tactilely-perceptible measures that have, it is to utilize the elastic gum material to coat liquid material, then it is made finger-joint, rely on pressure to measure as the finger touch perception.Though described technology can the stiff surface of modifier, and the strength of sensing sense of touch and position, pliability is also uncontrollable.
Comprehensively above-mentioned, therefore need a kind of tactile sensor badly and use the movable device of described device to solve the problem that prior art produces.
Summary of the invention
Fundamental purpose of the present invention is for providing a kind of tactile sensor, it is to arrange by but the formed air bag of resilient material being made array type, rely on sensing air bag pressure inside to change and change to present different pliabilitys the purpose that reaches sensing and change pliability to understand size and the position of touching external force and to rely on air feed to change the air bag internal pressure.
Another fundamental purpose of the present invention is for providing a kind of movable device, and it is to utilize sensing device as its epidermis, to make described movable device have the purpose of more enriching interaction mechanism as producing the interactive input interface that reacts, reaching.
Secondary objective of the present invention is for providing a kind of tactile sensor; it is the limbs epidermis that can be used as movable device; make movable device when limb motion, can reach the purpose of protection limbs or minimizing limbs collision impact according to the flexibility of different speed or environmental demand change tactile sensor.
Another object of the present invention is for providing a kind of tactile sensor, it is the limbs epidermis that can be used as movable device, makes can adjust the size that grasps strength by means of the adjustment of flexibility when limbs grasp object, prevent object landing in the extracting process, reaching increases the purpose that grasps security.
A right purpose of the present invention is for providing a kind of tactile sensor, it is can be arranged on the movable device, sensing component as the barrier bump, the size that relies on sensing bump or contact position and strength, feed back to movable device, the pliability of the information Control contact interfaces such as speed that collocation is moved reaches and prevents to clash into and cause the impaired purpose of external environment object or movable device.
To achieve the above object, the invention provides a kind of tactile sensor, it is to include: a sensing layer, and it is made of a plurality of elastic body, and each elastic body inside has an accommodation space; One pressure regulating unit, it is to be connected with described sensing layer with pipeline, to regulate the internal pressure of described accommodation space; At least one pressure-sensing unit, it is the pressure size that can detect in the described accommodation space; And a control module, it is to be connected with described pressure regulating unit and described at least one pressure-sensing unit, described control module can receive the sensing signal that described pressure-sensing unit is produced.
To achieve the above object, the present invention more provides a kind of movable device, and it is to include: a movable body, have a gripping body, and provide one first holding force clamping one object; One sensing layer, it is overlayed on the gripping body of described movable body, and described sensing layer is made of a plurality of elastic body, and each elastic body inside has an accommodation space, and this sensing layer provides one second this object of holding force clamping; One pressure regulating unit, it is to be connected with described sensing layer with pipeline, to regulate the internal pressure of described accommodation space; At least one pressure-sensing unit, it is the pressure size that can detect in the described accommodation space; An and control module, it is to be connected with described pressure regulating unit and described at least one pressure-sensing unit, described control module can receive the sensing signal that described pressure-sensing unit is produced, and then controls the action that described movable body produces correspondence.
Description of drawings
Fig. 1 is the preferred embodiment synoptic diagram of tactile sensor of the present invention;
Fig. 2 A is the equivalent pressure loop synoptic diagram of tactile sensor of the present invention;
Fig. 2 B is another equivalent pressure loop synoptic diagram of tactile sensor of the present invention;
Fig. 3 A be pressure-sensing of the present invention unit another position view is set;
Fig. 3 B is the another position view that is provided with in pressure-sensing of the present invention unit;
Fig. 4 arranges synoptic diagram for elastic body of the present invention becomes matrix form;
Fig. 5 A is a movable device preferred embodiment synoptic diagram of the present invention;
Fig. 5 B is that movable device of the present invention is than the function block schematic diagram;
Fig. 5 C is that the extracting structure of movable device of the present invention grasps the article synoptic diagram;
Fig. 6 is coated with the mobile vehicle synoptic diagram of tactile sensor for the present invention;
Fig. 7 is the Another Application synoptic diagram of tactile sensor of the present invention.
Description of reference numerals: 1-tactile sensor; The 10-sensing layer; The 100-elastic body; The 1001-accommodation space; The 1002-flexible circuit board; The 11-pressure regulating unit; The 110-pipeline; 111-multitask transfer valve; The 112-pressure control unit; 12-pressure-sensing unit; The 13-control module; The 14-protective seam; 2a, 2b-tactile sensor pressure circuit; The 20-pneumatic cylinder; The 21-pressure transducer; 22-multitask transfer valve; The 23-pressure governor; The 24-pressure source; The 25-pipeline; The 3-movable device; The movable body of 30-; The 31-sensing layer; The 32-control module; 33-pressure-sensing unit; The 34-pressure regulating unit; 35-interface I/O unit; The 36-limbs; The 37-gripping body; The 40-mobile vehicle; The 41-tactile sensor; 5-gives vent to toy; The 50-spheroid; The 501-tactile sensor; The 90-object.
Embodiment
For making your juror further cognitive and understanding be arranged to feature of the present invention, purpose and function, hereinafter the spy describes the relevant thin portion structure of device of the present invention and the theory reason of design:
See also shown in Figure 1ly, described figure is the preferred embodiment synoptic diagram of tactile sensor of the present invention.Described tactile sensor 1, it is that look contains a sensing layer 10, a pressure regulating unit 11, a plurality of pressure-sensings unit 12 and a control module 13.Described sensing layer 10, it is made of a plurality of elastic body 100, and each elastic body 100 inside has an accommodation space 1001.The air bag that described in the present embodiment elastic body 100 is made for resilient material.Described pressure regulating unit 11, it is to be connected with described sensing layer 10 with pipeline 110, to regulate the internal pressure of described accommodation space 1001.Described pressure regulating unit 11 includes a multitask transfer valve 111 and a pressure control unit 112.In the present embodiment, the turnover amount of described pressure control unit 112 may command fluid materials passes in and out described accommodation space 1001 by multitask transfer valve 111 control fluids again.Described elastic body 100 can expand by means of the change of described accommodation space 1001 internal pressures or shrink.
Described a plurality of pressure-sensings unit 12, it is the pressure size of detecting respectively in the accommodation space 1001 of each elastic body 100, and produces an electric signal, by flexible circuit board 1002 signal is delivered to control module 13.And described control module 13 is to be connected with described pressure regulating unit 11, and described control module 13 can receive the sensing signal that described pressure-sensing unit 12 is produced, and judges described sensing layer 10 stressed sizes and stressed position.In addition, the signal that described control module 13 can be detected according to described pressure-sensing unit 12, and then control described pressure regulating unit 11 starts.The top of described sensing layer 10 has more a protective seam 14, is subjected to external force and damages to prevent described sensing layer.
See also shown in Fig. 2 A, described figure is the equivalent pressure loop synoptic diagram of tactile sensor of the present invention.In the present embodiment, the elastic body 20 of tactile sensor 2a is to come equivalently represented with the pneumatic cylinder symbol.The pressure-sensing unit 12 of 21 equivalences of pressure transducer in Fig. 1, the signal of pressure transducer 21 is connected with described control module 13.And the pressure regulating unit 11 among Fig. 1, then constituted by the multitask transfer valve 22 among Fig. 2 A, pressure governor 23 and pressure source 24, described in the present embodiment pressure governor 23 is that a barostat and described pressure source 24 is for supplying the pneumatic supply of air pressure.In the present embodiment, though do pressure controlled explanation with air pressure, in fact do not exceed with air pressure, fluid pressure also can utilize mode of the present invention to implement.
Described a plurality of multitask transfer valve 22, it is to be communicated with described a plurality of elastic bodys 20 respectively and to electrically connect with Electronic Control signal and described control module 13, described multitask transfer valve 22 can switch the flow direction with pilot-gas.Described pressure governor 23, it is to be communicated with described multitask transfer valve 22 respectively, and and electrically connect with Electronic Control signal and described control module 13, described pressure governor 23 can be regulated elastic body 20 pressure inside.Described pressure source 24, it is to be connected with described pressure governor 23.Described control module 13 can be regulated elastic body 20 pressure inside by controlling described pressure governor 23 and multitask transfer valve 22.
Except the embodiment of Fig. 2 A, also can be shown in Fig. 2 B, described figure is another equivalent pressure loop synoptic diagram of tactile sensor of the present invention.In the present embodiment, the pressure regulating unit of described tactile sensor 2b is made of a plurality of pressure governors 23 and a pressure source 24.Described a plurality of pressure governor 23, it is to be communicated with described a plurality of elastic bodys 20 respectively, and electrically connects with Electronic Control signal and described control module 13.Described pressure source 24, it is to be communicated with described a plurality of pressure governors 23.Directly be connected with the pressure in each elastic body 20 of direct adjusting by each other pressure governor 23 with elastic body 20.
Return shown in Figure 1A, described pressure-sensing unit 12 is and a side that is arranged on pipeline 110 to detect the pressure of accommodation spaces in the described elastic body 100 to rely on sensing pipeline 110 interior pressure sizes.Except the mode of Figure 1A, see also shown in Fig. 3 A, described pressure-sensing unit 12 also can be arranged on the pressure size in the direct sensing accommodation spaces 1001 in the accommodation space 1001 of elastic body 100 inside.In addition,, see also shown in Fig. 3 B, can utilize single pressure transducer 21 to be arranged between described a plurality of multitask transfer valve 22 and the pressure governor 23 except aforesaid mode.Come the pressure of gas in the different elastic bodys 20 of sensing by the switching of multitask transfer valve 22.
See also shown in Figure 4ly, arrange synoptic diagram for elastic body of the present invention becomes matrix form.Described a plurality of elastic body 100 is into matrix form and is arranged in the described sensing layer 10.Rely on the arrangement of matrix form, when external force contacts described sensing layer 10, can sense the stressed size and the position of stress area.
See also shown in Fig. 5 A, described figure is a movable device preferred embodiment synoptic diagram of the present invention.Described movable device 3 is to include a movable body 30, a sensing layer 31, a pressure regulating unit 34, at least one pressure-sensing unit 33 and a control module 32.The mechanical body that described movable body 30 makes up for the multicompartment body with manual expression ability.Described mechanical body is to may be selected to be an industrial machine human arm, a mobile robot, an interactive robot, a guide to visitors robot, to save robot, from damage and look after robot, an educational robot, an amusement with robot and one of them person of moving machinery carrier.Except that this, described movable body be may be selected to be one have manual expression ability toy, to have the portable electronic product, of manual expression that the complex-curved billboard of manual expression is arranged and have manual expression the performance utensil one of them.In the present embodiment, described movable body 30 is a robot.
Described sensing layer 31, it is overlayed on the watchcase of described movable body 30 (all or regional area), and described sensing layer 31 is made of a plurality of elastic body, and each elastic body inside has an accommodation space.In the present embodiment, described sensing layer 31 can be used as the skin of movable body, makes movable body top layer present polynary style and features.Described pressure regulating unit 34 and described pressure-sensing unit 33, its function and effect are not given unnecessary details most at this as previously mentioned.Described control module 32, it is to be connected with described pressure regulating unit 34 and described at least one pressure-sensing unit 33, described control module 32 can receive the strength size and the positional information of the tactile sensing that described pressure-sensing unit 33 produced, and then controls described movable body 30 and produce the corresponding limb action or the demonstration of other interactive information.
See also shown in Fig. 5 B, described figure is a movable device function block schematic diagram of the present invention.The above control module 32 of described movable device more is connected with an interface I/O unit 35, for example: the input module or the output precisions of display, cresset and voice such as sensor, image identification.And the limbs 36 that can control on the described movable body 30 produce the function of action.In the present embodiment, described movable device 3 can rely on and produces interactively between position that the signal of 33 sensings in described pressure-sensing unit judges that sense of touch produces and size and then control limbs 36 and the operator, or is reacted to the operator by interface I/O unit 35 output messages.Because described sensing layer 31 has flexibility, therefore in movable device 3 motion processes, can rely on the surface tension of the variation change sensing layer of sense of touch, or its soft surface degree, even simulating human muscle tone and sense of touch, make movable device 3 have more diversity and interactive.
See also shown in Fig. 5 C, described figure is that the extracting structure of movable device of the present invention grasps the article synoptic diagram.The limbs 36 of described movable body have a gripping body 37, and its surface also is coated with sensing layer 31.When gripping body 37 gripping objects, can so that being provided, gripping strength come the gripping object by the pliability of controlling described sensing layer 31.Traditional gripping strength is many to be provided by mechanical component, and mechanical component itself there is no the mechanism of similar human contraction of muscle diastole, therefore is easy to because accidentally and the injurant surface.And utilize the embodiment of Fig. 5 C, can provide the mechanism (one is gripping body 37, its two be sensing layer 31) of two application of forces, in the mode that increases the control gripping and prevent landing.
See also shown in Figure 6ly, described figure is the mobile vehicle synoptic diagram that the present invention is coated with tactile sensor.When described movable device is a mobile vehicle 40, as: during vehicle, around the described carrier 40 aforesaid tactile sensor 41 can be set, rely on the strength size perception or the position judgment of sense of touch or collision, can be as the detection on border and crashproof detection.In addition, described tactile sensor 41 can be at mobile vehicle 40 friction speed variations or environmental change and the interface of different soft and hard is provided, and prevents the external environment thing or the impact of mobile vehicle causes damage.
See also shown in Figure 7ly, described figure is the Another Application synoptic diagram of tactile sensor of the present invention.Described tactile sensor 501 can be made specific moulding, is the spheroid 50 of thinking that resilient material is made in the present embodiment, is fixed on then on the housing, as leading toy 5 off, the user can or be beaten its application of force.When described tactile sensor 501 is beaten or during the application of force, the described controller (not shown) of leading off in the toy 5 can produce reaction at the degree of beaing the application of force, for example sound or change the pliability etc. of described tactile sensor 501.
The above only is preferred embodiment of the present invention, only is illustrative for the purpose of the present invention, and nonrestrictive.Those skilled in the art is understood, and can carry out many changes to it in the spirit and scope that claim of the present invention limited, revise, even equivalence, but all will fall within the scope of protection of the present invention.
Comprehensively above-mentioned, tactile sensor provided by the invention and the movable device that uses described device, have the size that can change pliability and sensing contact force and the advantage of position, can be applied in different occasions, therefore can satisfy the demand of industry, and then improve the competitive power of described industry and drive arround the development of industry, really met the required important document that possesses of patent of invention method defined application invention, so be the application of putting forward patent of invention in accordance with the law.
Claims (11)
1. movable device, it is characterized in that: it is to include:
One movable body has a gripping body, provides one first holding force clamping one object;
One sensing layer, it is overlayed on the gripping body of described movable body, and described sensing layer is made of a plurality of elastic body, and each elastic body inside has an accommodation space, and this sensing layer provides one second this object of holding force clamping;
One pressure regulating unit, it is to be connected with described sensing layer with pipeline, to regulate the internal pressure of described accommodation space;
At least one pressure-sensing unit, it is the pressure size that can detect in the described accommodation space; And
One control module, it is to be connected with described pressure regulating unit and described at least one pressure-sensing unit, described control module can receive the sensing signal that described pressure-sensing unit is produced, and then the action of controlling described pressure regulating unit changes the flexibility of sensing layer, and controls described movable body and produce corresponding action.
2. movable device as claimed in claim 1 is characterized in that: the top of described sensing layer also has a protective seam.
3. movable device as claimed in claim 1 is characterized in that: described pressure-sensing unit is arranged in the described accommodation space, changes with the pressure in the described accommodation space of sensing.
4. movable device as claimed in claim 1 is characterized in that: change to learn the variation of described accommodation space internal pressure but described pressure-sensing unit is a pressure in the pipeline between described pressure regulating unit of sensing and the described elastic body.
5. movable device as claimed in claim 1 is characterized in that: described pressure regulating unit also includes:
A plurality of pressure governors, it is to be connected with described a plurality of elastic bodys and described control module respectively; And
One pressure source, it is to be connected with described a plurality of pressure governors and described control module.
6. movable device as claimed in claim 1 is characterized in that: described pressure regulating unit more includes:
A plurality of multitask transfer valves, it is to be connected with described a plurality of elastic bodys and described control module respectively;
At least one pressure governor, it is to be connected with described a plurality of multitask transfer valves and described control module respectively; And
One pressure source, it is to be connected with described at least one pressure governor and described control module.
7. movable device as claimed in claim 1 is characterized in that: described a plurality of elastic bodys are into matrix form and are arranged in the described sensing layer.
8. movable device as claimed in claim 1 is characterized in that: described control module can have more the signal that described pressure-sensing unit is detected, and judges stressed size of described sensing layer and stressed position.
9. movable device as claimed in claim 1 is characterized in that: described movable body is the mechanical body with multicompartment body combination of manual expression ability.
10. movable device as claimed in claim 9 is characterized in that: described mechanical body be an industrial machine human arm, a mobile robot, an interactive robot, a guide to visitors robot, save from damage robot, look after robot, an educational robot, an amusement with robot and a moving machinery carrier one of them.
11. movable device as claimed in claim 1 is characterized in that: described movable body be one have manual expression ability toy, to have the portable electronic product, of manual expression that the complex-curved billboard of manual expression is arranged and have manual expression the performance utensil one of them.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200610161773A CN101211190B (en) | 2006-12-25 | 2006-12-25 | Mobile device |
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| CN200610161773A CN101211190B (en) | 2006-12-25 | 2006-12-25 | Mobile device |
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| CN101211190A CN101211190A (en) | 2008-07-02 |
| CN101211190B true CN101211190B (en) | 2010-05-19 |
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| CN200610161773A Active CN101211190B (en) | 2006-12-25 | 2006-12-25 | Mobile device |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103223675B (en) * | 2013-05-21 | 2015-08-05 | 中国科学院重庆绿色智能技术研究院 | Based on the robot delicate curved surface tracking method of array of pressure sensors |
| CN104406722B (en) * | 2014-12-03 | 2017-04-26 | 合肥京东方光电科技有限公司 | Array pressure surface sensing imaging device |
| WO2017006671A1 (en) * | 2015-07-08 | 2017-01-12 | アルプス電気株式会社 | Tactile sensation reproduction device |
| CN105675176A (en) * | 2016-03-28 | 2016-06-15 | 合肥联宝信息技术有限公司 | Pressure detection device, manipulator and electronic device |
| CN205691140U (en) * | 2016-06-08 | 2016-11-16 | 深圳市前海康启源科技有限公司 | Electronics muscle sensing device |
| CN108693956B (en) * | 2017-04-07 | 2022-03-15 | 腾讯科技（深圳）有限公司 | Mechanical feedback device and method and control method of virtual reality interactive accessory |
| CN110089979A (en) * | 2018-01-31 | 2019-08-06 | 光宝电子(广州)有限公司 | Inflatable device, system and its control method with Inflatable device |
| CN113342171B (en) * | 2021-06-15 | 2023-04-07 | 华北科技学院(中国煤矿安全技术培训中心) | Method and device for generating touchable entity in real time in virtual reality space |
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| US4306148A (en) * | 1980-01-21 | 1981-12-15 | General Electric Company | Tactile sensor |
| US5373747A (en) * | 1991-03-30 | 1994-12-20 | Kabushiki Kaisha Toshiba | Robot hand and robot |
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