CN101650322A - Temperature touch sensing device - Google Patents
Temperature touch sensing device Download PDFInfo
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- CN101650322A CN101650322A CN200910034949A CN200910034949A CN101650322A CN 101650322 A CN101650322 A CN 101650322A CN 200910034949 A CN200910034949 A CN 200910034949A CN 200910034949 A CN200910034949 A CN 200910034949A CN 101650322 A CN101650322 A CN 101650322A
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Abstract
The invention discloses a temperature touch sensing device, comprising a first insulating plate, a second insulating plate and a temperature sensor arranged between the first insulating plate and thesecond insulating plate, a heater and an insulating base plate, and the insulating base plate is arranged between the temperature sensor and the heater. The temperature sensor comprises an embedded temperature sensing metal coil which adopts a semi-circle spiral encircling way with decreasing radius gradually or an isosceles right triangle spiral encircling way with decreasing side length gradually; the heater comprises an embedded metal heating wire which adopts a semi-circle spirally encircling way with decreasing radius gradually or an isosceles right triangle spirally encircling way with decreasing side length gradually; the temperature touch sensing device accurately distinguishes the characteristics of a measured object by measuring the temperature response of the measured object with a touch way, and is economic and practical, and the temperature touch sensing device has the characteristics of high measuring precise, reliable performance, quick detecting speed and wide application and the like.
Description
Technical field
The present invention relates to a kind of temperature touch sensing device, can be applicable to test the thermal characteristics of contact object, relate to touch sensor field and temperature sensor field.The thermal characteristics of the distinguishable object of this temperature sensing device is applicable to the robot finger, space exploration, a plurality of fields such as medical treatment.
Background technology
Sense of touch is that robot realizes and the direct acting essential media of environment, is a kind of important consciousness form that is only second to vision that robot obtains environmental information.Different with vision, sense of touch itself has the directly multiple nature and characteristic of measuring object and environment of very strong responsive ability.Can realize the function that some vision can't realize, so sense of touch not only is, and a kind of of vision replenishes.Compare with the widespread use of robot vision sensing technology, the tactile sensing technology of robot still is in the primary stage of development, particularly the tactile recognition method.Owing to the diversity of touch sensor and the limitation of robot hand function, there be not the theory and the method for own characteristic so far.
The research contents of touch sensor mainly is a force-touch sensor at present, and the direction of optics touch sensor is less relatively for the research of temperature touch sensing device.And the research of touch sensor mainly is confined in tactile sensing device of robot's the application.
Temperature sensor can be divided into two big classes by the way of contact of sensor and measured medium: a class is a contact type temperature sensor, and a class is a non-contact temperature sensor.The temperature element of contact type temperature sensor and measurand will have good thermo-contact, reach thermal equilibrium by heat conduction and convective principles.This temp measuring method ratio of precision is higher, but and Measuring Object temperature inside distribution.But for motion, ratio of heat capacities is less and temperature-sensing element is had the object of corrosive attack, this method will produce very big error.The temperature element of non-contact temperature measuring does not contact mutually with measurand.Commonly used is the radiant heat exchange principle.The principal feature that this kind surveyed steady method is that can to measure the little target of motion state and thermal capacity little or change object rapidly, also can measure the Temperature Distribution in temperature field, but be subjected to the influence of environment bigger.
Temperature characterisitic is identified in a lot of fields all application, robot finger for example, Material Identification, space exploration etc.With the Material Identification is example, and Material Identification can depend on infrared acquisition, ultrasonic listening, and infrared acquisition and ultrasonic listening, though the accuracy height, the uncertain disturbing effect that is subject to human body temperature and ambient temperature.The temperature touch sensing device is discerned with respect to these, more economical being suitable for, and convenient convenience, it is applied to robot finger's purpose and is the more tactile discrimination ability of real simulation people's finger.
Summary of the invention
Technical matters to be solved by this invention is at above-mentioned the deficiencies in the prior art, and provide a kind of simple in structure, test process is convenient to operate passes through contact identification tested object thermal characteristics, response speed is fast, accuracy of identification is high temperature touch sensing device.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of temperature touch sensing device, comprise temperature sensor, comprise first insulcrete, second insulcrete and be arranged on first insulcrete and second insulcrete between temperature sensor, well heater and an insulated substrate, described insulated substrate is arranged between described temperature sensor and the well heater.
Described well heater, insulated substrate and temperature sensor adopt the upper, middle and lower three-decker, the horizontally disposed both sides up and down of described well heater and temperature sensor at insulated substrate, and described well heater is connected with described first insulcrete, and described temperature sensor is connected with described second insulcrete.
Described well heater, insulated substrate and temperature sensor are arranged on on one deck, and the described well heater and the horizontally disposed left and right sides at insulated substrate of temperature sensor.
Described temperature sensor comprises the temperature sensing wire coil of embedding, described wire coil adopt semicircle spiral that radius successively decreases the isosceles right triangle spiral that successively decreases around mode or the length of side around mode.
Described well heater comprises the METAL HEATING PROCESS silk of embedding, described METAL HEATING PROCESS silk adopt semicircle spiral that radius successively decreases the isosceles right triangle spiral that successively decreases around mode or the length of side around mode.
Temperature sensing device of the present invention comprises temperature sensor section, heater section and substrate three parts composition:
Temperature sensor section.Temperature sensor section is made up of insulating thin and embedding temperature sensing wire coil wherein.Wire coil can adopt the semicircle helix canoe that radius successively decreases, the isosceles right triangle spiral canoe that the length of side is successively decreased, in the restrictive condition of processing technology and splint fixation area, make the loop length maximum, to increase resistance value and thermal contact conductance area, the external modulate circuit of two end points of wire coil constitutes test circuit, and the outermost layer of sensor is one deck thin dielectric layer.Sensor section is used to contact the measurand surface, by the resistance change of test wire coil, thereby simulates resistance change curve identification measurand thermal characteristics, and these thermal characteristicss comprise thermal diffusion coefficient, coefficient of heat conductivity, specific heat capacity etc.
Heater section.Heater section is made up of insulating thin and embedding METAL HEATING PROCESS silk wherein.The METAL HEATING PROCESS silk can adopt the semicircle helix canoe that radius successively decreases, the isosceles right triangle spiral canoe that the length of side is successively decreased, in the restrictive condition of processing technology and splint fixation area, make the loop length maximum, to increase resistance value and thermal contact conductance area, two external heating power supplies of end points of METAL HEATING PROCESS silk, the outermost layer of well heater is one deck thin dielectric layer.Heater section is used to heat whole temperature sensor, external heater circuit makes the wire coil two ends feed electric current, make the wire coil heating, purpose is that the whole temp sensor device of maintenance is a constant temperature, and the temperature value of this constant temperature can be regulated and control along with different tested objects.It is the heating function of the purpose of temperature constant state to keep whole sensing device, and the temperature constant state in the time of can making whole device anthropomorphic dummy's finger contact object embodies the feeling function of sensor device.
Substrate portion.Substrate portion adopts the bigger heat-conducting insulation material of thermal resistance, is intended to slow down the temperature changing speed of sensor, can better simulate the hot sense of touch thoughts and feelings of finger, and can more obviously collect the data that resistance of sensor changes.
The present invention is applicable to the robot finger, space exploration, and a plurality of fields such as medical treatment, its major technique characteristics are: 1. adopt special sensor construction, wire coil to use the semicircle helix around method, increased the heat-conducting area of contact.2. adopt heating to keep the heating arrangement of constant temperature, purpose is to keep the uniform temperature difference so that increase the test duration, and the thermostatic characteristics of anthropomorphic dummy's finger better embodies the tactile characteristics of sensor.3. obtain the temperature variation data by the variation that obtains the wire coil resistance value, and calculate temperature variation curve thus, thereby pick out the thermal characteristics of measurand.
Present technique is compared with the prior art, and has following advantage:
1. the present invention adopts heat conduction and thermal resistance principle, and is simple for structure.
2. the present invention adopts well heater, and purpose is that maintenance whole sensor device is the temperature-controlled of temperature constant state, and anthropomorphic dummy's finger touch reduces the negative effect of variation of ambient temperature to measuring accuracy, the accuracy of identification height simply.
3. can directly measure the change in resistance curve of measurand, intuitively and exactly test, differentiate the thermal characteristics of measurand, these thermal characteristicss comprise thermal diffusion coefficient, coefficient of heat conductivity.
4. the present invention can realize capacitance sensing, the function of inductance sensing by the change of sensor terminals as the compound transducer device.
5. can be widely used in the robot finger, space exploration, a plurality of fields such as medical treatment.
Description of drawings
Below in conjunction with the drawings and specific embodiments the present invention is further elaborated.
Fig. 1: be the temperature touch sensing device structural representation.
Wherein 1 is temperature sensor section, and 2 is substrate portion, and 3 is heater section.
Fig. 2: two kinds of wire coils that is embedded in for temperature sensor are around the mode synoptic diagram.Wherein 2a is the isosceles right triangle spiral canoe that the length of side is successively decreased, and 2b is the semicircle helix canoe that radius successively decreases, and 2c is the local enlarged diagram of 2a, and 2d is the local enlarged diagram of 2b.
Fig. 3: two kinds of wire coils that is embedded in for well heater are around the mode synoptic diagram.Wherein, 3a is the isosceles right triangle spiral canoe that the length of side is successively decreased, and 3b is the semicircle helix canoe that radius successively decreases, and 3c is the local enlarged diagram of 3a, and 3d is the local enlarged diagram of 3b.
Fig. 4: for measurand is that surface of contact is the test synoptic diagram of the solid material on plane.
Wherein 6 is external heater circuit, and 7 is external test circuit, and 8 is measurand.
Fig. 5: be a kind of temperature touch sensing device general illustration of testing solid.
Wherein 9 is measurand, and 10 is temperature sensor, and 11 for connecting the lead between temperature touch sensing device and the data acquisition module, and 12 is data acquisition module, comprises external heater circuit, external test circuit, analog to digital converter.
Fig. 6: be a kind of temperature touch sensing device general illustration of test liquid.
Go out five faces of end face comprising hexahedron and all adopt a temperature touch sensing apparatus that comprises temperature sensor and well heater, can put into test liquid test liquid thermal characteristics.
Fig. 7: be a kind of distressed structure of temperature sensing device.
Wherein 13 is sensor, and 14 is well heater, and 15 is heat transfer substrate, and 16 is the upper strata insulcrete, and 17 is lower floor's insulcrete.
Embodiment
Below test the embodiment of measurand for this sensing device:
Temperature touch sensing device of the present invention, comprise temperature sensor 1, substrate 2 and well heater 3, insulated substrate is arranged between temperature sensor 1 and the well heater 3, as shown in Figure 1, temperature sensor 1, substrate 2 and well heater 3 are the upper, middle and lower three-decker, at well heater 3 outer additional one deck insulcretes 5, at temperature sensor 1 outer additional one deck insulcrete 4.Temperature sensor 1, substrate 2 and well heater 3 also can be arranged horizontally, and are about to the three and are placed on same one deck, and temperature sensor 1 and well heater 3 are horizontally disposed in the left and right sides of insulated substrate 2, as shown in Figure 7.
Temperature sensor section: adopt the structure as accompanying drawing 2, special sensing arrangement is made up of the insulating thin of metal sensing coil and good heat conductivity.Wire coil can adopt the semicircle helix canoe that radius successively decreases, the isosceles right triangle spiral canoe that the length of side is successively decreased, increase length with maximum, thereby increase the resistance contact area, can calculate the length of wire coil, thereby draw the expression formula of wire coil resistance value.The temperature sensor section lower surface is close on the surface of measurand, owing to have temperature difference between measurand surface and the temperature sensor lower surface, thereby generation heat conduction, cause the interior metal sensing coil temperature of temperature sensor to change thereupon, thereby metal sensing coil resistance changes thereupon, the signal of detected resistance is changed, and the signal of this time response is detected and analyzes by external test circuit.By the heat conduction formula as can be seen, the data of collection can obtain the thermal characteristics of measured material, comprise thermal diffusion coefficient, and coefficient of heat conductivity can obtain the distribution of measurand surface temperature field.
Heater section: adopt the structure as accompanying drawing 3, special heater structure is made up of METAL HEATING PROCESS silk and heat conductivility good insulation performance thin plate.The semicircle helix canoe that METAL HEATING PROCESS silk employing radius successively decreases, the isosceles right triangle spiral canoe that the length of side is successively decreased are with the length increase resistance contact area of maximum.External heater circuit feeds electric current for the METAL HEATING PROCESS silk, make its heating, judge variation of temperature according to the resistance value of METAL HEATING PROCESS silk, it is big that resistance value becomes, when temperature is higher than set point of temperature, reduce power input, reduce temperature, resistance value diminishes, when temperature is lower than set point of temperature, increase power input, the rising temperature makes whole temperature touch sensing apparatus remain the temperature constant state of set point of temperature.The thermostat temperature value of this regulation is can be according to different tested object controlling changings, during the higher object of general whole sensing device probe temperature, regulating and control this thermostat temperature value makes it be lower than the measurand temperature, can simulate the hotness of finger like this, during the lower object of probe temperature, regulating and control this thermostat temperature value makes it be higher than the measurand temperature, can simulate the cold sensation of finger like this, there is bigger temperature difference between sensing device that causes like this and the measurand, it is sensitiveer that tactile expression is got, and better tests the thermal response process of measurand.
Substrate portion: adopt structure, adopt the bigger heat-conducting insulation material of thermal resistance, be intended to slow down the temperature changing speed of sensor, thereby can more obviously collect the data that resistance of sensor changes as accompanying drawing 1.
Data acquisition module part: adopt to comprise external test circuit, external heater circuit, analog to digital converter.Data acquisition module can provide power supply to well heater, and the pick-up transducers signal is the analog signal conversion that collects a digital signal, and digital data transmission is arrived the Computer Analysis computational data, obtains the data and curves feature, thereby obtains the measurand thermal characteristics.Can produce different temperature touch sensing devices according to different test environments, as shown in Figure 4, for measurand is that surface of contact is the test synoptic diagram of the solid material on plane; Fig. 5 is a kind of temperature touch sensing device general illustration of testing solid; Fig. 6 is a kind of temperature touch sensing device general illustration of test liquid.
Embodiment 1
Measurand is the low solid of probe temperature, heter temperature is heightened, make it be higher than the temperature of measurand, reduce contact resistance by conduction oil, sensing device is lain on the measurand surface, because the temperature difference that exists, this moment, Sensor section conducted heat to measurand, sensor temperature reduces, and heter temperature reduces thereupon, increases heater power, make well heater keep constant temperature, promptly keep resistance value constant, continue for some time, make sensing device reach steady state (SS), form the steady temperature field, heter temperature no longer changes, and the sensing device temperature also no longer changes, end of test (EOT).The data analysis that collects draws thermal characteristicss such as coefficient of heat conductivity, thermal diffusion coefficient.
The heat conduction of this embodiment, test mechanism:
Two important parameters of ectocrine body heat transferring speed are coefficient of heat conductivity K, thermal diffusion coefficient α.
K can be drawn by Fourier law
Q is a heat flow density, and v is a temperature, and x is a heat transfer distances.It is the scale-up factor in the Fourier law, is an important physical property of object, and it has reflected the capacity of heat transmission of object, i.e. the heat flux that can transmit by unit area under the unit temperature gradient effect.
α is by following formula definition
ρ is a density, and c is a specific heat capacity.It has reflected the ratio of the capacity of heat transmission with the heat storage capacity of object, also is one and weighs the index that object internal temperature variation when heating or cooling passes the speed of retouching.
Above-mentioned test case is reduced to a simple model, sensing device is regarded as a deblocking temperature is the square plate of v (t), and measurand regards that a deblocking temperature is distributed as u (x, the infinitely-great object of unlimited degree of depth t) as, v (t) is the function of time t, (x is the binary function of heat transfer distances x and time t t) to u, and sensing device closely contacts with measurand, in the contact position Temperature Distribution is x=0, u (0, t)=v (t), this is the temperature of sensing device.
The thermal diffusion formula of measurand is:
Boundary condition is:
V (t) is the temperature of sensing device, and M is the quality of sensing device, and c is the specific heat capacity of sensing device, and Q is the heat output of sensing device, and K is the coefficient of heat conductivity of measurand.
Can directly draw the change procedure of v (t) by test result, M, c is known, and Q can be calculated by the heating process of well heater, K is relevant with α, therefore can by above-mentioned equation solve u (x, t), α, K, realize test measurand temperature field thus, calculate its thermal diffusion coefficient, coefficient of heat conductivity, thus reach the purpose of discerning the measurand thermal characteristics.
Claims (5)
1, a kind of temperature touch sensing device, it is characterized in that: comprise first insulcrete (4), second insulcrete (5) and be arranged on first insulcrete (4) and second insulcrete (5) between temperature sensor (1), well heater (3) and an insulated substrate (2), described insulated substrate (2) is arranged between described temperature sensor (1) and the well heater (3).
2, temperature touch sensing device according to claim 1, it is characterized in that: described well heater (3), insulated substrate (2) and temperature sensor (1) adopt the upper, middle and lower three-decker, described well heater (3) and the horizontally disposed both sides up and down of temperature sensor (1) at insulated substrate (2), and described well heater (3) is connected with described first insulcrete (4), and described temperature sensor (1) is connected with described second insulcrete (5).
3, temperature touch sensing device according to claim 1, it is characterized in that: described well heater (3), insulated substrate (2) and temperature sensor (1) are arranged on on one deck, and the described well heater (3) and the horizontally disposed left and right sides in insulated substrate (2) of temperature sensor (1).
4, according to claim 1,2 or 3 described temperature touch sensing devices, it is characterized in that: described temperature sensor (1) comprises the temperature sensing wire coil of embedding, described wire coil adopt semicircle spiral that radius successively decreases the isosceles right triangle spiral that successively decreases around mode or the length of side around mode.
5, according to claim 1,2 or 3 described temperature touch sensing devices, it is characterized in that: described well heater (3) comprises the METAL HEATING PROCESS silk of embedding, described METAL HEATING PROCESS silk adopt semicircle spiral that radius successively decreases the isosceles right triangle spiral that successively decreases around mode or the length of side around mode.
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| CN200910034949A CN101650322A (en) | 2009-09-08 | 2009-09-08 | Temperature touch sensing device |
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| CN200910034949A CN101650322A (en) | 2009-09-08 | 2009-09-08 | Temperature touch sensing device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175362A (en) * | 2011-03-07 | 2011-09-07 | 合肥工业大学 | Multifunctional flexible touch sensor |
| CN102415875A (en) * | 2011-09-01 | 2012-04-18 | 东南大学 | Contact temperature measuring device of temperature touch representing device and manufacturing method for contact temperature measuring device |
| CN103565417A (en) * | 2013-07-25 | 2014-02-12 | 南京医科大学第一附属医院 | Pain test instrument |
| CN104331153A (en) * | 2014-10-14 | 2015-02-04 | 东南大学 | Handwriting input method and device based on temperature touch |
| CN108548844A (en) * | 2018-05-11 | 2018-09-18 | 东南大学 | The hot physical property sensor and measurement method of annulus heating excitation central point thermometric |
-
2009
- 2009-09-08 CN CN200910034949A patent/CN101650322A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175362A (en) * | 2011-03-07 | 2011-09-07 | 合肥工业大学 | Multifunctional flexible touch sensor |
| CN102415875A (en) * | 2011-09-01 | 2012-04-18 | 东南大学 | Contact temperature measuring device of temperature touch representing device and manufacturing method for contact temperature measuring device |
| CN102415875B (en) * | 2011-09-01 | 2013-06-26 | 东南大学 | Contact temperature measuring device of temperature touch representing device and manufacturing method for contact temperature measuring device |
| CN103565417A (en) * | 2013-07-25 | 2014-02-12 | 南京医科大学第一附属医院 | Pain test instrument |
| CN103565417B (en) * | 2013-07-25 | 2015-02-18 | 南京医科大学第一附属医院 | Pain test instrument |
| CN104331153A (en) * | 2014-10-14 | 2015-02-04 | 东南大学 | Handwriting input method and device based on temperature touch |
| CN104331153B (en) * | 2014-10-14 | 2017-02-15 | 东南大学 | Numeric character handwriting input method and device based on temperature touch |
| CN108548844A (en) * | 2018-05-11 | 2018-09-18 | 东南大学 | The hot physical property sensor and measurement method of annulus heating excitation central point thermometric |
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Application publication date: 20100217 |