CN105067161A - Uniform electric field type robot tactile sensor and detection method thereof - Google Patents
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Abstract
本发明涉及一种匀强电场型机器人触觉传感器及其检测方法，所述触觉传感器包括上柔性层、网状隔层以及下柔性层，所述上柔性层与下柔性层均由一导电面和一绝缘面贴合组成，且所述导电面作为上柔性层与下柔性层的内表面，所述上柔性层与下柔性层的导电面分别直接贴附于所述网状隔层的上下两面；所述上柔性层导电面的两对边与下柔性层导电面的另外两对边均设有平行的线状电极，且所述上柔性层平行的线状电极与所述下柔性层现状电极拼成尺寸封闭的矩形；所述上柔性层的线状电极与所述下柔性层的线状电极相互垂直布置。本发明采用的材料均具有柔性，能够有效地检测碰撞接触位置，具有体积小，结构简单，工艺制作简单，成本低，较高的柔性等特点。
The invention relates to a uniform electric field type robot tactile sensor and a detection method thereof. The tactile sensor comprises an upper flexible layer, a mesh partition and a lower flexible layer, and the upper flexible layer and the lower flexible layer are composed of a conductive surface and An insulating surface is laminated, and the conductive surface is used as the inner surface of the upper flexible layer and the lower flexible layer, and the conductive surfaces of the upper flexible layer and the lower flexible layer are respectively directly attached to the upper and lower sides of the mesh spacer The two pairs of sides of the conductive surface of the upper flexible layer and the other two pairs of sides of the conductive surface of the lower flexible layer are provided with parallel linear electrodes, and the parallel linear electrodes of the upper flexible layer are in line with the present situation of the lower flexible layer The electrodes are assembled into a closed rectangle; the linear electrodes of the upper flexible layer and the linear electrodes of the lower flexible layer are arranged perpendicular to each other. The materials used in the invention are all flexible, can effectively detect the collision contact position, and have the characteristics of small size, simple structure, simple process, low cost, high flexibility and the like.
Description
技术领域 technical field
本发明属于传感技术领域，特别涉及一种能够检测碰撞接触位置的匀强电场型机器人触觉传感器及其检测方法。 The invention belongs to the field of sensing technology, and in particular relates to a uniform electric field robot tactile sensor capable of detecting a collision contact position and a detection method thereof.
背景技术 Background technique
触觉在人与环境的交互中具有十分重要的现实意义，对于机器人而言，触觉传感器是机器人获取外界信息的有效途径，通过获取触觉信息，机器人能及时做出必要的响应，提高应对环境的能力。随着MEMS技术的不断发展以及各种敏感材料的出现，为研制机器人触觉传感器奠定了良好基础。 The sense of touch has very important practical significance in the interaction between human and the environment. For robots, the tactile sensor is an effective way for the robot to obtain external information. By obtaining tactile information, the robot can make necessary responses in time and improve the ability to deal with the environment. . With the continuous development of MEMS technology and the emergence of various sensitive materials, a good foundation has been laid for the development of robotic tactile sensors.
专利（CN101059380）发明了一种柔性电容式触觉传感器，可贴附在任意表面，能同时感受法向力和切向力的大小，但是其采用阵列式结构，敏感材料的制备工艺较复杂，阵列各不同部分由于生产流程、制作工艺技术的非同一性，对同一个传感器阵列的不同部分的特性也会出现非均一性。专利(CN203965077)发明了一种柔性薄膜触觉传感器，采用静电诱导的方法在基体上制作成对柔顺电极层，形成三明治结构柔性薄膜，具有可剪裁为任意形状，挠性好等特点，但其复合薄膜电极的工艺制作过程需要控制的因素较多，难以保证每次制造的电极都能符合要求。相比之下，本发明采用非阵列式柔性结构，材料和结构配件制备简单，不存在材料制备的工艺复杂和不均一性等问题，良好的柔性同样可以贴附在任意表面，对非规则曲面的测量不会存在误差过大等问题。 Patent (CN101059380) invented a flexible capacitive tactile sensor, which can be attached to any surface and can feel the magnitude of normal force and tangential force at the same time, but it adopts an array structure, and the preparation process of sensitive materials is complicated. Due to the non-identity of the production process and manufacturing process technology of different parts, the characteristics of different parts of the same sensor array will also appear non-uniform. The patent (CN203965077) invented a flexible film tactile sensor, which adopts the electrostatic induction method to make a pair of compliant electrode layers on the substrate to form a sandwich structure flexible film, which can be cut into any shape and has good flexibility. There are many factors that need to be controlled in the manufacturing process of thin film electrodes, and it is difficult to ensure that the electrodes manufactured every time can meet the requirements. In contrast, the present invention adopts a non-array flexible structure, the preparation of materials and structural accessories is simple, and there is no problem of complex and inhomogeneous material preparation processes, and good flexibility can also be attached to any surface. There will be no problems such as excessive error in the measurement.
发明内容 Contents of the invention
鉴于此，本发明的目的是提供一种匀强电场型机器人触觉传感器及其检测方法。采用的材料均具有柔性，能够有效地检测碰撞位置，具有体积小，结构简单，工艺制作简单，成本低，较高的柔性的特点。 In view of this, the purpose of the present invention is to provide a uniform electric field robot touch sensor and detection method thereof. The materials used are all flexible, can effectively detect the collision position, and have the characteristics of small size, simple structure, simple process, low cost and high flexibility.
本发明采用以下方案实现：一种匀强电场型机器人触觉传感器，包括上柔性层、网状隔层以及下柔性层，所述上柔性层与下柔性层均由一导电面和一绝缘面贴合组成，且所述导电面作为上柔性层与下柔性层的内表面，所述上柔性层与下柔性层的导电面分别直接贴附于所述网状隔层的上下两面；所述上柔性层导电面的两对边与下柔性层导电面的另外两对边均设有平行的线状电极，且所述上柔性层上设置的平行线状电极与所述下柔性层上设置的平行线状电极拼成尺寸封闭的矩形；所述上柔性层的线状电极与所述下柔性层的线状电极相互垂直布置。 The present invention is realized by the following scheme: a uniform electric field type robot tactile sensor, comprising an upper flexible layer, a mesh interlayer and a lower flexible layer, the upper flexible layer and the lower flexible layer are bonded by a conductive surface and an insulating surface and the conductive surface is used as the inner surface of the upper flexible layer and the lower flexible layer, and the conductive surfaces of the upper flexible layer and the lower flexible layer are respectively directly attached to the upper and lower sides of the mesh spacer; the upper The two opposite sides of the conductive surface of the flexible layer and the other two opposite sides of the conductive surface of the lower flexible layer are provided with parallel linear electrodes, and the parallel linear electrodes arranged on the upper flexible layer are connected with the parallel electrodes arranged on the lower flexible layer. The parallel linear electrodes form a closed rectangle; the linear electrodes of the upper flexible layer and the linear electrodes of the lower flexible layer are arranged perpendicular to each other.
进一步地，所述绝缘面作为上柔性层与下柔性层的外表面，且所述绝缘面为高分子薄膜基材；所述绝缘面上喷涂有一层具有一定导电率的用以形成所述上柔性层与下柔性层的导电面的半导体介质。 Further, the insulating surface is used as the outer surface of the upper flexible layer and the lower flexible layer, and the insulating surface is a polymer film substrate; a layer with a certain conductivity is sprayed on the insulating surface to form the upper The semiconductor medium of the conductive surface of the flexible layer and the lower flexible layer.
进一步地，所述线状电极的电导率大于所述上柔性层与下柔性层的导电面上半导体介质的电导率10倍以上。 Further, the electrical conductivity of the linear electrodes is more than 10 times higher than the electrical conductivity of the semiconductor medium on the conductive surfaces of the upper flexible layer and the lower flexible layer.
进一步地，在所述上柔性层与下柔性层的外表面均贴附一层粘弹性保护膜。 Further, a viscoelastic protective film is attached to the outer surfaces of the upper flexible layer and the lower flexible layer.
本发明中所述的匀强电场型机器人触觉传感器的检测方法，其感知接触位置的机理是基于匀强电场法，接触位置的检测过程具体包括以下步骤： The detection method of the uniform electric field robot tactile sensor described in the present invention, its mechanism of sensing the contact position is based on the uniform electric field method, and the detection process of the contact position specifically includes the following steps:
步骤S1：在所述下柔性层导电面的一对边设有的两个线状电极之间施加一偏置直流电压； Step S1: applying a bias DC voltage between the two linear electrodes provided on a pair of sides of the conductive surface of the lower flexible layer ;
步骤S2：按压触觉传感器中上柔性层绝缘面的任一位置，使所述上柔性层与下柔性层的导电面接触，得到一接触点； Step S2: Press any position on the insulating surface of the upper flexible layer in the tactile sensor, so that the upper flexible layer contacts the conductive surface of the lower flexible layer to obtain a contact point;
步骤S3：将所述上柔性层的导电面作为接触点的引出线，连接至一信号采集器， Step S3: use the conductive surface of the upper flexible layer as the lead-out line of the contact point, and connect it to a signal collector,
获取电压值； Get the voltage value ;
步骤S4：去除所述下柔性层的偏置直流电压，把偏置直流电压施加到所述上柔性层导电面的两线状电极之间； Step S4: removing the bias DC voltage of the lower flexible layer , put the bias DC voltage Applied between two linear electrodes on the conductive surface of the upper flexible layer;
步骤S5：将所述下柔性层的导电面作为接触点的引出线，连接至所述信号采集器，获取电压值； Step S5: Use the conductive surface of the lower flexible layer as the lead-out line of the contact point, connect it to the signal collector, and obtain the voltage value ;
步骤S6：松开按压位置，并按照如下公式计算按压位置处的接触点坐标（x,y）： Step S6: Release the pressed position, and calculate the contact point coordinates (x, y) at the pressed position according to the following formula:
其中，为施加在两个线状电极之间的偏置直流电压值，，分别为所述信号采集器采集到的接触点的电压值，，分别为所述上柔性层与下柔性层线状电极间的间距。 in, is the bias DC voltage value applied between the two linear electrodes, , are respectively the voltage values of the contact points collected by the signal collector, , are the distances between the linear electrodes of the upper flexible layer and the lower flexible layer, respectively.
与现有技术相比，本发明具有以下优点：1、本发明结构采用的材料均具有柔性，满足机器人触觉传感器柔性的要求，能够大面积覆盖在机器人体表，其结构尺寸不受限制，能够按实际需要制作；2、引线少，结构简单，信号提取与处理简单，简单的数学模型，减小CPU计算时间，能够满足实时性的要求。3、制造工艺流程简单，材料无特殊要求，能够通过常规方法制备，成本大大降低。 Compared with the prior art, the present invention has the following advantages: 1. The materials used in the structure of the present invention are all flexible, meeting the flexible requirements of the robot tactile sensor, and can cover a large area on the robot body surface, and its structural size is not limited. Manufactured according to actual needs; 2. Fewer leads, simple structure, simple signal extraction and processing, simple mathematical model, reduced CPU calculation time, and can meet real-time requirements. 3. The manufacturing process is simple, there is no special requirement for the material, it can be prepared by conventional methods, and the cost is greatly reduced.
附图说明 Description of drawings
图1是本发明匀强电场型机器人触觉传感器的结构简图，图中标号1为上柔性层的绝缘面，2为上柔性层的导电面，3为网状隔层，4为下柔性层的导电面，5为下柔性层的绝缘面，6为线状电极。 Fig. 1 is a schematic diagram of the structure of the uniform electric field robot tactile sensor of the present invention, in which number 1 is the insulating surface of the upper flexible layer, 2 is the conductive surface of the upper flexible layer, 3 is a mesh interlayer, and 4 is the lower flexible layer 5 is the insulating surface of the lower flexible layer, and 6 is the wire electrode.
图2为本发明上柔性层结构，图中标号1为绝缘面，2为导电面，61为线状电极。 Fig. 2 is the upper flexible layer structure of the present invention, in which the number 1 is an insulating surface, 2 is a conductive surface, and 61 is a linear electrode.
图3是本发明下柔性层结构，图中标号4为导电面，5为绝缘面，62为线状电极。 Fig. 3 is the structure of the lower flexible layer of the present invention, in which numeral 4 is a conductive surface, 5 is an insulating surface, and 62 is a linear electrode.
图4是本发明受压时的结构截面图，图中标号11为上柔性层，3为网状隔层，22为下柔性层。 Fig. 4 is a cross-sectional view of the structure of the present invention when it is under pressure, in which number 11 is an upper flexible layer, 3 is a mesh interlayer, and 22 is a lower flexible layer.
图5是本发明X方向位置测量原理图，图中标号11为上柔性层，22为下柔性层，62为下柔性层的线状电极。 Fig. 5 is a principle diagram of position measurement in the X direction of the present invention, in which number 11 is the upper flexible layer, 22 is the lower flexible layer, and 62 is the linear electrode of the lower flexible layer.
图6是本发明Y方向位置测量原理图，图中标号11为上柔性层，22为下柔性层，61为上柔性层的线状电极。 Fig. 6 is a principle diagram of position measurement in the Y direction of the present invention, in which the number 11 is the upper flexible layer, 22 is the lower flexible layer, and 61 is the linear electrode of the upper flexible layer.
图7是本发明位置测量原理图。 Fig. 7 is a schematic diagram of the position measurement principle of the present invention.
具体实施方式 Detailed ways
下面结合附图及实施例对本发明做进一步说明。 The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
本实施例提供一种匀强电场型机器人触觉传感器，如图1-图4所示，包括上柔性层11、网状隔层3以及下柔性层22，所述上柔性层11与下柔性层22均由一导电面和一绝缘面贴合组成，且所述导电面作为上柔性层与下柔性层的内表面，所述上柔性层与下柔性层的导电面1和4分别直接贴附于所述网状隔层的上下两面；所述上柔性层与下柔性层的导电面的两对边均设有平行的线状电极6，且所述上柔性层的线状电极61与所述下柔性层线状电极62拼成尺寸封闭的矩形；所述上柔性层的线状电极与所述下柔性层的线状电极相互垂直布置。 This embodiment provides a kind of uniform electric field robot tactile sensor, as shown in Fig. 1-Fig. 22 are composed of a conductive surface and an insulating surface, and the conductive surface is used as the inner surface of the upper flexible layer and the lower flexible layer, and the conductive surfaces 1 and 4 of the upper flexible layer and the lower flexible layer are directly attached respectively On the upper and lower sides of the mesh partition; two opposite sides of the conductive surface of the upper flexible layer and the lower flexible layer are provided with parallel linear electrodes 6, and the linear electrodes 61 of the upper flexible layer are connected to the The linear electrodes 62 of the lower flexible layer are assembled into a rectangle with closed dimensions; the linear electrodes of the upper flexible layer and the linear electrodes of the lower flexible layer are arranged perpendicular to each other.
在本实施例中，所述绝缘面作为上柔性层与下柔性层的外表面，且所述绝缘面2和5为高分子薄膜基材；在所述绝缘面上通过喷涂一层具有一定导电率的半导体介质，可形成所述上柔性层与下柔性层的导电面1和4。 In this embodiment, the insulating surface is used as the outer surface of the upper flexible layer and the lower flexible layer, and the insulating surfaces 2 and 5 are polymer film substrates; a layer with a certain conductivity is sprayed on the insulating surface. The high-rate semiconductor medium can form the conductive surfaces 1 and 4 of the upper flexible layer and the lower flexible layer.
在本实施例中，为了使线状电极的阻性对矩形电场产生尽可能少的影响，所述线状电极的电导率大于所述上柔性层与下柔性层的导电面上半导体介质的电导率10倍以上。 In this embodiment, in order to make the resistance of the linear electrodes have as little influence on the rectangular electric field as possible, the electrical conductivity of the linear electrodes is greater than the conductance of the semiconductor medium on the conductive surfaces of the upper flexible layer and the lower flexible layer The rate is more than 10 times.
在本实施例中，为了保护触觉传感器免受刮擦损伤，在所述上柔性层与下柔性层的外表面均可贴附一层粘弹性保护膜。 In this embodiment, in order to protect the touch sensor from being scratched, a viscoelastic protective film can be pasted on the outer surfaces of the upper flexible layer and the lower flexible layer.
整个机器人触觉传感器的结构尺寸没有限制，可以按照实际用途来制造传感器的大小。特别的，在本实施例中，柔性层的导电面材料为石墨纸，线状电极采用铝箔，线状电极与导电面的衔接处涂抹银浆，增强导电性能，绝缘面采用高分子薄膜基材。中间网状隔层采用聚乙烯分子材料，厚度为0.25mm,网格边长为2mm。粘弹性保护膜为1mm厚度的硅胶材料。 The structure size of the whole robot tactile sensor is not limited, and the size of the sensor can be manufactured according to the actual use. In particular, in this embodiment, the material of the conductive surface of the flexible layer is graphite paper, the wire electrode is made of aluminum foil, the connection between the wire electrode and the conductive surface is coated with silver paste to enhance the conductivity, and the insulating surface is made of polymer film substrate . The middle mesh compartment is made of polyethylene molecular material with a thickness of 0.25mm and a grid side length of 2mm. The viscoelastic protective film is a silicone material with a thickness of 1mm.
基于本发明所述的机器人触觉传感器，如果在柔性层导电面两电极之间施加一偏置电压，依据本发明所述的平行线状电极，以及两个导电面的线状电极相互垂直并封闭成矩形，则在导电面两线状电极之间将会产生匀强电场，基于匀强电场的基本性质可知，在匀强电场内，电势值沿电场方向等梯度分布。因此，如果能够测得某点的电势值，即可进一步求得该点在两线状电极之间的相对位置。依据本发明所述，如果在导电面另外一组对边也按照同样的方法施加偏置电压，同样也可测得该点在另外一组电极之间的相对位置，如果这两组线状电极相互垂直，则接触点在两个相互垂直方向的坐标值即可获得。本发明设计两个导电面并通过网状隔层隔开的目的，是当给某一导电层施加偏置电压时，另一导电层起到引出接触点电势信号的作用。 Based on the robotic tactile sensor of the present invention, if a bias voltage is applied between the two electrodes on the conductive surface of the flexible layer, the parallel linear electrodes according to the present invention and the linear electrodes of the two conductive surfaces are perpendicular to each other and closed If it is rectangular, a uniform electric field will be generated between the two linear electrodes on the conductive surface. Based on the basic properties of the uniform electric field, it can be known that in the uniform electric field, the potential value is distributed along the direction of the electric field. Therefore, if the potential value of a certain point can be measured, the relative position of the point between the two linear electrodes can be further obtained. According to the present invention, if a bias voltage is applied in the same way to another group of opposite sides of the conductive surface, the relative position of the point between another group of electrodes can also be measured, if the two groups of linear electrodes are perpendicular to each other, then the coordinate values of the contact point in two mutually perpendicular directions can be obtained. The present invention designs two conducting surfaces and separates them through a mesh interlayer, so that when a bias voltage is applied to one conducting layer, the other conducting layer plays the role of drawing out the potential signal of the contact point.
在本实施例中，如图4所示，当在机器人触觉传感器表面施加外力时，上柔性层的导电面与下柔性层的导电面在接触位置连通短接，在触觉传感器幅面上建立平面XY坐标系，位置检测就是检测接触位置x、y坐标值的过程： In this embodiment, as shown in Figure 4, when an external force is applied to the surface of the robot tactile sensor, the conductive surface of the upper flexible layer and the conductive surface of the lower flexible layer are connected and shorted at the contact position, and a plane XY is established on the tactile sensor web Coordinate system, position detection is the process of detecting the x and y coordinate values of the contact position:
1、X方向坐标值测量过程如图5所示，在下柔性层导电面的条形电极上施加偏置电压，上柔性层导电面作为测量面，用于测出接触位置的电势值，从而可求得X坐标值： 1. The X-direction coordinate value measurement process is shown in Figure 5, and a bias voltage is applied to the strip electrode on the conductive surface of the lower flexible layer , the conductive surface of the upper flexible layer is used as the measurement surface to measure the potential value of the contact position, so that the X coordinate value can be obtained:
式中，为接触点在触觉传感器X轴方向测得的电势值。下柔性层导电面两个线状电极间的间距。 In the formula, is the potential value of the contact point measured in the X-axis direction of the touch sensor. The distance between two linear electrodes on the conductive surface of the lower flexible layer.
2、Y方向位置测量过程如图6所示，撤掉下柔性层导电面条形电极的偏置电压，对上柔性层导电面的线状电极施加偏置电压，下柔性层导电面作为测量面，用于测出接触位置的电势值，从而可求得Y坐标值: 2. The position measurement process in the Y direction is shown in Figure 6, remove the bias voltage of the strip electrode on the conductive surface of the lower flexible layer, and apply a bias voltage to the linear electrode of the conductive surface of the upper flexible layer , the conductive surface of the lower flexible layer is used as the measurement surface to measure the potential value of the contact position, so that the Y coordinate value can be obtained:
式中，为接触点在触觉传感器Y轴方向测得的电势值。为上柔性层导电面两个线状电极间的间距。 In the formula, is the potential value of the contact point measured in the Y-axis direction of the touch sensor. is the distance between two linear electrodes on the conductive surface of the upper flexible layer.
接触点位置坐标测量过程如图7所示，联立在X和Y方向求得的位置坐标，即可求得接触点的位置坐标。 The process of measuring the position coordinates of the contact point is shown in Figure 7. The position coordinates of the contact point can be obtained by combining the position coordinates obtained in the X and Y directions.
综上所述，在本实施例中所述的匀强电场型机器人触觉传感器的检测方法具体包括以下步骤： In summary, the detection method of the uniform electric field robot tactile sensor described in this embodiment specifically includes the following steps:
步骤S1：在所述下柔性层导电面的一对边设有的两个线状电极之间施加一偏置直流电压； Step S1: applying a bias DC voltage between the two linear electrodes provided on a pair of sides of the conductive surface of the lower flexible layer ;
步骤S2：按压触觉传感器中上柔性层绝缘面的任一位置，使所述上柔性层与下柔性层的导电面接触，得到一接触点； Step S2: Press any position on the insulating surface of the upper flexible layer in the tactile sensor, so that the upper flexible layer contacts the conductive surface of the lower flexible layer to obtain a contact point;
步骤S3：将所述上柔性层的导电面作为接触点的引出线，连接至一信号采集器， Step S3: use the conductive surface of the upper flexible layer as the lead-out line of the contact point, and connect it to a signal collector,
获取电压值； Get the voltage value ;
步骤S4：去除所述下柔性层的偏置直流电压，把偏置直流电压施加到所述上柔性层导电面的两线状电极之间； Step S4: removing the bias DC voltage of the lower flexible layer , put the bias DC voltage Applied between two linear electrodes on the conductive surface of the upper flexible layer;
步骤S5：将所述下柔性层的导电面作为接触点的引出线，连接至所述信号采集器，获取电压值； Step S5: Use the conductive surface of the lower flexible layer as the lead-out line of the contact point, connect it to the signal collector, and obtain the voltage value ;
步骤S6：松开按压位置，并按照如下公式计算按压位置处的接触点坐标（x,y）： Step S6: Release the pressed position, and calculate the contact point coordinates (x, y) at the pressed position according to the following formula:
其中，为施加在两个线状电极之间的偏置直流电压值，，分别为所述信号采集器采集到的接触点的电压值，，分别为所述上柔性层与下柔性层线状电极间的间距。 in, is the bias DC voltage value applied between the two linear electrodes, , are respectively the voltage values of the contact points collected by the signal collector, , are the distances between the linear electrodes of the upper flexible layer and the lower flexible layer, respectively.
本发明能够非常简便的产生匀强电场，容易求得接触位置的坐标值，体积小，结构简单，良好的柔性可以大面积覆盖在机器人体表，能够有效的感知接触位置。 The invention can easily generate a uniform electric field, easily obtain the coordinate value of the contact position, has small volume, simple structure, good flexibility and can cover a large area of the robot body surface, and can effectively sense the contact position.
以上所述仅为本发明的较佳实施例，凡依本发明申请专利范围所做的均等变化与修饰，皆应属本发明的涵盖范围。 The above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.
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