CN104635562A - Touch sensor, touch sensing system and intelligent robot - Google Patents
Touch sensor, touch sensing system and intelligent robot Download PDFInfo
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- CN104635562A CN104635562A CN201310574461.5A CN201310574461A CN104635562A CN 104635562 A CN104635562 A CN 104635562A CN 201310574461 A CN201310574461 A CN 201310574461A CN 104635562 A CN104635562 A CN 104635562A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
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Abstract
The invention relates to a touch sensor, a touch sensing system and an intelligent robot. The touch sensor comprises a touch detection chip, a signal acquisition circuit and a flexible circuit board. A signal acquisition end of the touch detection chip is connected with the flexible circuit board, and a signal output end of the touch detection chip is connected with the signal acquisition circuit. The flexible circuit board serves as a touch sensing carrier, the touch key chip is adopted to achieve a touch sensing detection circuit, and a touch sensing function of the robot can be realized. Compared with an existing touch sensing garment, the touch sensor, the touch sensing system and the intelligent robot have the advantages that flexibility and changeability in shape are achieved, and changing shapes and areas according to practical utilization requirements can be realized; sensitivity can be adjusted accordingly to the thickness of a shell in practical use; the sensing carrier is light and thin and can be simply and conveniently mounted at various places and especially mounted in a shell of the robot without changing appearance of the robot; touch sensing can be realized without extruding deformation in touch.
Description
Technical field
The present invention relates to robot sensor field, be specifically related to a kind of touch sensor, touch sensing system and intelligent robot.
Background technology
Tactile sensing device of robot occupies very important status in robot sense system, and it has the function that other sensations such as vision cannot realize.One section of article being called " a kind of research of Intelligent Robot touch sensing costume " that " the sensing technology report " of the 19th volume the 3rd phase in 2006 is published discloses a kind of method utilizing the piezoresistive characteristic of conductive rubber to realize tactile sensing device of robot.Conductive rubber infiltrates conductive particle at General Purpose Rubber to make, its piezoresistive characteristic refers to that the character of marked change occurs the Electrical Resistivity of Conductive Rubber of unit volume under applied external force, it is general when the pressure suffered by conductive rubber slowly becomes large, its volume slowly diminishes thereupon, the concentration being equivalent to inner conductive particle increases, thus the resistance decreasing of conductive rubber, the resistance variations like this by detecting guiding rubber realizes the detection of sense of touch.As shown in Figure 1; conductive rubber of the prior art is generally designed to sensing cloth when applying: the two-layer protective mulch being respectively common cloth in highest and lowest; inwardly use PB plate as upper and lower two battery lead plates again; described PB plate is printed with circuit with silver slurry, and middle is with conductive rubber the array contacts layer made and the mesh liner layer being used for cutting off upper/lower electrode.Be made into sensor suit by above-mentioned sensing cloth, sensor suit is worn on it robot, just can carry out the organoleptic detection of sense of touch after energising.
The tactile sensing device of robot's function realized by the method has that area is large, highly sensitive, pliability is good a little, but also there is comparatively significant shortcoming: first, sensing cloth needs the effect of being out of shape and just can reaching and detecting sense of touch that is squeezed in actual use, cannot respond to slight touch; Secondly, because sensing cloth has certain thickness, position much special in robot can not be wrapped up well, is not easy to install; Again, dress at robotic surface the overall appearance that sensor suit can affect robot, make robotic surface material single.
Summary of the invention
The object of the invention is to, for defect of the prior art, a kind of touch sensor, touch sensing system and intelligent robot are provided, it possesses the advantage that area is large, highly sensitive, pliability is good of existing sensor suit, also has that need not extrude not available for sensor suit just can detect sense of touch, structure is frivolous, shape is changeable simultaneously, easy installation, does not affect the advantage of robot overall appearance.
For achieving the above object, the present invention is by the following technical solutions:
A kind of touch sensor, is installed in robot, comprises sense of touch detection chip, signal acquisition circuit and flexible PCB; The signals collecting end of described sense of touch detection chip is connected with flexible PCB, and signal output part is connected with signal acquisition circuit.
Also comprise the shunt capacitance of the signals collecting end being connected to sense of touch detection chip, the electric capacity of described shunt capacitance is 0 ~ 50pF, for regulating the induction sensitivity of touch sensor.
Described sense of touch detection chip is touch key-press chip.
Described sense of touch detection chip is TTP223 chip or PCF8883 chip.
Described flexible PCB is connected to the signals collecting end of sense of touch detection chip by the shielded cable of single core.
Described flexible PCB by sticking double faced adhesive tape on the inwall of robot shells.
A kind of touch sensing system, comprises host controller, sensor collection plate and multiple above-described touch sensor; Described multiple touch sensor is connected with sensor collection plate respectively, and described sensor collection plate is connected with host controller.
A kind of intelligent robot, comprises robot body and multiple above-described touch sensor; The flexible PCB of described multiple touch sensor is installed on the multiple positions on robot body respectively.
A kind of intelligent robot, comprises robot body and above-described touch sensing system; The flexible PCB of the multiple touch sensors in described touch sensing system is installed on the multiple positions on robot body respectively.
A kind of touch sensor provided by the invention, touch sensing system and intelligent robot, use flexible PCB as touch feeling carrier, and use touch key-press chip to realize the testing circuit of touch feeling, can realize the tactilely-perceptible function of robot.More existing touch sensing costume is compared, and the flexible shapes of the flexible PCB in the present invention is changeable, can change shape and area according to actual needs; When the sensitivity of touch sensor can use according to reality, outer casing thickness regulates; Perception carrier thickness is frivolous, can be arranged on various position, installs simple and convenient; Especially can be arranged on robot shells inside, not change robot outward appearance; Can perception sense of touch without the need to compressional deformation during touch.
Accompanying drawing explanation
Fig. 1 is the circuit module schematic diagram of a kind of touch sensor of the embodiment of the present invention one.
Fig. 2 is the using method reference diagram of the embodiment of the present invention one.
Fig. 3 is the structural representation of the touch sensing system in the embodiment of the present invention two.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, technical scheme of the present invention is described in detail.
Embodiment one
As shown in Figure 1, embodiments provide a kind of touch sensor in robot, comprise sense of touch detection chip, signal acquisition circuit and flexible PCB.The VSS pin ground connection of sense of touch detection chip, VDD pin connects power supply; Q pin is signal output part, is connected with signal acquisition circuit, for supplying host computer collection signal; I pin is signals collecting end, is connected with the flexible PCB as touch feeling carrier, for receiving tactile feel induction signal.
As improvement, a shunt capacitance can be connected at the signals collecting end of sense of touch detection chip, for regulating the induction sensitivity of touch sensor.The electric capacity of described shunt capacitance can be 0 ~ 50pF, and electric capacity more muting sensitivity is higher, is most sensitive state when not connecting shunt capacitance.
As improvement, described sense of touch detection chip is touch key-press chip.In the embodiment of the present invention, adopt TTP223 chip or PCF8883 chip as sense of touch detection chip.TTP223 chip and PCF8883 chip are that the most frequently used singly-bound touches chip, in addition, the multichannel input of many pin package also can be used to touch chip.
At first 0.5 second that powers on, sense of touch detection chip will detect the external capacitive amount be connected on I pin, i.e. shunt capacitance, and it can be used as initial value.When there being object to touch outside touch feeling carrier and flexible PCB, just can change the electric capacity on flexible PCB, although change is very little, sense of touch detection chip also can detect this small capacitance change.Sense of touch detection chip detects that the external capacitive amount on I pin is greater than initial value, and the level output state changing Q pin immediately carries out signals collecting for host computer, so just achieves the function of perception sense of touch.
During embodiment of the present invention practical application, by flexible PCB by sticking double faced adhesive tape on the inwall of robot shells, namely as shown in Figure 2, most last layer is robot shells 1, and lower floor is flexible PCB 3, and the middle double faced adhesive tape 2 that adopts is pasted, and ensures firmly.Flexible PCB 3 only needs to be connected with sense of touch detection chip by a single-core shielding line cable.Mounting structure so just can not affect the monnolithic case design of robot, and the material of shell also can change arbitrarily according to actual needs.Add the thickness of flexible PCB, shape and area can carry out according to actual needs designing and processing, make it have the advantages such as highly sensitive, frivolous, durable, can be arranged in various narrow and small, changeable space.
Embodiment two
The present invention well can be applied on show robot.Show robot is a kind of multi-functional intelligent robot, uses as publicity, guide in places such as various exhibition scene, stadiums and science and technology centers.It has walking, self-navigation, keep in obscurity, with the function such as people talk, but due to its shell be that plastics or glass steel material are made mostly, use mode is in the past difficult to realize feeling function.
Embodiments provide a kind of show robot, comprise robot body and touch sensing system.As shown in Figure 3, described touch sensing system comprises host controller, sensor collection plate and multiple touch sensor; Described multiple touch sensor is connected with sensor collection plate respectively, and described sensor collection plate is connected with host controller.
Particularly, described multiple touch sensor is respectively left side of head touch sensor, right side of head touch sensor, left large arm touch sensor, right large arm touch sensor, left forearm touch sensor and right forearm touch sensor.The flexible PCB corresponding multiple different parts be installed on robot body respectively of each touch sensor, i.e. head both sides, both sides large arm and forearm.The flexible PCB of each position coordinates a road sense of touch detection chip to carry out the collection of haptic signal, and the signal that sense of touch detection chip exports is collected on one piece of sensor collection plate by signal acquisition circuit is unified again, realizes the communication with host controller afterwards.So just achieve the feeling function of show robot, when robot is touched, robot can say suitable language or make corresponding action according to the position be touched, enriched the human-computer interaction function of show robot greatly.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (9)
1. a touch sensor, is installed in robot, it is characterized in that, comprises sense of touch detection chip, signal acquisition circuit and flexible PCB; The signals collecting end of described sense of touch detection chip is connected with flexible PCB, and signal output part is connected with signal acquisition circuit.
2. touch sensor according to claim 1, is characterized in that, also comprises the shunt capacitance of the signals collecting end being connected to sense of touch detection chip, and the electric capacity of described shunt capacitance is 0 ~ 50pF, for regulating the induction sensitivity of touch sensor.
3. touch sensor according to claim 1, is characterized in that, described sense of touch detection chip is touch key-press chip.
4. touch sensor according to claim 3, is characterized in that, described sense of touch detection chip is TTP223 chip or PCF8883 chip.
5. touch sensor according to claim 1, is characterized in that, described flexible PCB is connected to the signals collecting end of sense of touch detection chip by the shielded cable of single core.
6. touch sensor according to claim 1, is characterized in that, described flexible PCB by sticking double faced adhesive tape on the inwall of robot shells.
7. a touch sensing system, is characterized in that, comprises the arbitrary described touch sensor of host controller, sensor collection plate and multiple claim 1 to 6; Described multiple touch sensor is connected with sensor collection plate respectively, and described sensor collection plate is connected with host controller.
8. an intelligent robot, is characterized in that, comprises robot body and the arbitrary described touch sensor of multiple claim 1 to 6; The flexible PCB of described multiple touch sensor is installed on the multiple positions on robot body respectively.
9. an intelligent robot, is characterized in that, comprises robot body and touch sensing system according to claim 7; The flexible PCB of the multiple touch sensors in described touch sensing system is installed on the multiple positions on robot body respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310574461.5A CN104635562A (en) | 2013-11-13 | 2013-11-13 | Touch sensor, touch sensing system and intelligent robot |
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| CN201310574461.5A CN104635562A (en) | 2013-11-13 | 2013-11-13 | Touch sensor, touch sensing system and intelligent robot |
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| CN201310574461.5A Pending CN104635562A (en) | 2013-11-13 | 2013-11-13 | Touch sensor, touch sensing system and intelligent robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107248860A (en) * | 2017-02-28 | 2017-10-13 | 刘冰冰 | A kind of many control wall touch switch control circuits |
| CN107351090A (en) * | 2017-09-05 | 2017-11-17 | 南京阿凡达机器人科技有限公司 | A kind of robot control system and method |
| CN107463291A (en) * | 2017-07-28 | 2017-12-12 | 上海木爷机器人技术有限公司 | The robot with personification performance based on touch |
| CN111256889A (en) * | 2020-01-07 | 2020-06-09 | 腾讯科技（深圳）有限公司 | Touch sensor, method and device for detecting touch event and intelligent robot |
| CN114138113A (en) * | 2021-11-30 | 2022-03-04 | 上海霖运科技有限公司 | Touch interaction system of vehicle-mounted AI robot |
| CN114699082A (en) * | 2022-04-21 | 2022-07-05 | 天津大学 | Flexible wearable surface electromyography sensor |
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| CN1817581A (en) * | 2006-03-24 | 2006-08-16 | 重庆大学 | Conductive coating touch sensing clothing of intelligent robot |
| CN101576421A (en) * | 2009-06-08 | 2009-11-11 | 哈尔滨工业大学 | Flexibility touch sensor for flexible finger tips of humanoid robot |
| CN101695001A (en) * | 2009-10-27 | 2010-04-14 | 哈尔滨工业大学 | Array piezoresistive tactile sensor adopting voltage array feedback method to weaken return circuit interference of scanning circuits |
| CN102314750A (en) * | 2010-06-30 | 2012-01-11 | 上海市静安区青少年活动中心 | Key-in alarming device |
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2013
- 2013-11-13 CN CN201310574461.5A patent/CN104635562A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1817581A (en) * | 2006-03-24 | 2006-08-16 | 重庆大学 | Conductive coating touch sensing clothing of intelligent robot |
| CN101576421A (en) * | 2009-06-08 | 2009-11-11 | 哈尔滨工业大学 | Flexibility touch sensor for flexible finger tips of humanoid robot |
| CN101695001A (en) * | 2009-10-27 | 2010-04-14 | 哈尔滨工业大学 | Array piezoresistive tactile sensor adopting voltage array feedback method to weaken return circuit interference of scanning circuits |
| CN102314750A (en) * | 2010-06-30 | 2012-01-11 | 上海市静安区青少年活动中心 | Key-in alarming device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107248860A (en) * | 2017-02-28 | 2017-10-13 | 刘冰冰 | A kind of many control wall touch switch control circuits |
| CN107463291A (en) * | 2017-07-28 | 2017-12-12 | 上海木爷机器人技术有限公司 | The robot with personification performance based on touch |
| CN107351090A (en) * | 2017-09-05 | 2017-11-17 | 南京阿凡达机器人科技有限公司 | A kind of robot control system and method |
| WO2019047528A1 (en) * | 2017-09-05 | 2019-03-14 | 南京阿凡达机器人科技有限公司 | Robot control system and method |
| CN111256889A (en) * | 2020-01-07 | 2020-06-09 | 腾讯科技（深圳）有限公司 | Touch sensor, method and device for detecting touch event and intelligent robot |
| CN114138113A (en) * | 2021-11-30 | 2022-03-04 | 上海霖运科技有限公司 | Touch interaction system of vehicle-mounted AI robot |
| CN114699082A (en) * | 2022-04-21 | 2022-07-05 | 天津大学 | Flexible wearable surface electromyography sensor |
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