CN105067161A - Uniform electric field type robot tactile sensor and detection method thereof - Google Patents
Uniform electric field type robot tactile sensor and detection method thereof Download PDFInfo
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- CN105067161A CN105067161A CN201510499479.2A CN201510499479A CN105067161A CN 105067161 A CN105067161 A CN 105067161A CN 201510499479 A CN201510499479 A CN 201510499479A CN 105067161 A CN105067161 A CN 105067161A
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- 230000005684 electric field Effects 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 title claims abstract description 11
- 239000010410 layer Substances 0.000 claims description 126
- 238000000034 method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 9
- 239000011229 interlayer Substances 0.000 claims description 8
- 239000004065 semiconductor Substances 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 5
- 229920006254 polymer film Polymers 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000009459 flexible packaging Methods 0.000 claims 1
- 229920006280 packaging film Polymers 0.000 claims 1
- 239000012785 packaging film Substances 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 6
- 238000002360 preparation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 229910002804 graphite Inorganic materials 0.000 description 1
- 239000010439 graphite Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- -1 polyethylene Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
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Abstract
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-shaped separating layer and a lower flexible layer. The upper flexible layer and the lower flexible layer is respectively composed of a conductive surface and an insulating surface through fitting, and the conductive surface acts as the internal surface of the upper flexible layer and the lower flexible layer. The conductive surfaces of the upper flexible layer and the lower flexible layer are directly adhered on the upper and lower surfaces of the mesh-shaped separating layer respectively. The two opposite sides of the conductive surface of the upper flexible layer and the other two opposite sides of the conductive surface of the lower flexible layer are respectively provided with parallel line electrodes, and a dimensionally enclosed rectangle is formed by the parallel line electrodes of the upper flexible layer and the parallel line electrodes of the lower flexible layer through splicing. The line electrodes of the upper flexible layer and the line electrodes of the lower flexible layer are arranged in a mutually perpendicular way. The adopted material has flexibility, and a collision and touch position can be effectively detected so that the uniform electric field type robot tactile sensor has characteristics of being small in size, simple in structure, simple in technology manufacturing, low in cost and relatively high in flexibility.
Description
Technical Field
The invention belongs to the technical field of sensing, and particularly relates to a uniform electric field type robot touch sensor capable of detecting collision contact positions and a detection method thereof.
Background
The touch sense has very important practical significance in the interaction between the human body and the environment, for the robot, the touch sensor is an effective way for the robot to acquire external information, and the robot can timely make necessary response by acquiring the touch sense information, so that the environment coping capability is improved. With the continuous development of MEMS technology and the emergence of various sensitive materials, a good foundation is laid for the development of the robot touch sensor.
The patent (CN 101059380) discloses a flexible capacitive touch sensor, which can be attached to any surface and can simultaneously sense the magnitude of normal force and tangential force, but the flexible capacitive touch sensor adopts an array structure, the preparation process of a sensitive material is complex, and the characteristics of different parts of the same sensor array are also non-uniform due to the non-uniformity of the production process and the manufacturing process technology. Patent (CN203965077) invented a flexible film touch sensor, which uses an electrostatic induction method to fabricate a pair of compliant electrode layers on a substrate to form a sandwich-structured flexible film, which can be cut into any shape and has good flexibility, but the process of fabricating the composite film electrode needs more factors to be controlled, and it is difficult to ensure that the electrode fabricated each time can meet the requirements. In contrast, the invention adopts a non-array flexible structure, the materials and structural accessories are simple to prepare, the problems of complex process, heterogeneity and the like of material preparation do not exist, good flexibility can be attached to any surface, and the problem of overlarge error and the like cannot exist in the measurement of irregular curved surfaces.
Disclosure of Invention
In view of the above, the present invention provides a uniform electric field type robot tactile sensor and a detection method thereof. The adopted materials are all flexible, can effectively detect collision positions, and have the characteristics of small volume, simple structure, simple process manufacture, low cost and higher flexibility.
The invention is realized by adopting the following scheme: a uniform electric field type robot touch sensor comprises an upper flexible layer, a reticular interlayer and a lower flexible layer, wherein the upper flexible layer and the lower flexible layer are respectively formed by laminating a conductive surface and an insulating surface, the conductive surfaces are used as the inner surfaces 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 and directly attached to the upper surface and the lower surface of the reticular interlayer; two opposite sides of the conductive surface of the upper flexible layer and the other two opposite sides of the conductive surface of the lower flexible layer are respectively provided with parallel linear electrodes, and the parallel linear electrodes arranged on the upper flexible layer and the parallel linear electrodes arranged on the lower flexible layer are spliced into a rectangle with a closed size; the linear electrodes of the upper flexible layer and the linear electrodes of the lower flexible layer are arranged perpendicular to each other.
Furthermore, the insulating surface is used as the outer surfaces of the upper flexible layer and the lower flexible layer, and the insulating surface is a polymer film substrate; and a layer of semiconductor medium with certain conductivity and used for forming the conductive surfaces of the upper flexible layer and the lower flexible layer is sprayed on the insulating surface.
Further, the conductivity of the linear electrode is more than 10 times larger than that of the semiconductor medium on the conductive surfaces of the upper flexible layer and the lower flexible layer.
Furthermore, a viscoelastic protective film is attached to the outer surfaces of the upper flexible layer and the lower flexible layer.
The detection method of the uniform electric field type robot tactile sensor is based on the uniform electric field method, and the detection process of the contact position specifically comprises the following steps:
step S1: applying a bias DC voltage between two linear electrodes arranged on a pair of sides of the conductive surface of the lower flexible layer；
Step S2: pressing any position of an insulating surface of an upper flexible layer in the touch sensor to enable the upper flexible layer to be in contact with a conductive surface of a lower flexible layer to obtain a contact point;
step S3: the conducting surface of the upper flexible layer is used as a leading-out wire of a contact point and is connected to a signal collector,
obtaining a voltage value；
Step S4: removing bias DC voltage of the lower flexible layerBias a DC voltageBetween two linear electrodes applied to the conductive side of the upper flexible layer;
step S5: the conductive surface of the lower flexible layer is used asA lead-out wire of the contact point connected to the signal collector for obtaining a voltage value；
Step S6: the pressed position is released, and the coordinates (x, y) of the contact point at the pressed position are calculated according to the following formula:
wherein,for a value of the bias dc voltage applied between the two wire-like electrodes,，respectively are the voltage values of the contact points collected by the signal collector,，the distance between the linear electrodes of the upper flexible layer and the lower flexible layer is respectively.
Compared with the prior art, the invention has the following advantages: 1. the materials adopted by the structure of the invention are all flexible, meet the requirement of flexibility of the robot tactile sensor, can cover the surface of the robot in a large area, have unlimited structural size and can be manufactured according to actual requirements; 2. the lead wires are few, the structure is simple, the signal extraction and processing are simple, the simple mathematical model reduces the CPU calculation time, and the real-time requirement can be met. 3. The preparation process is simple, the material has no special requirement, the preparation can be realized by a conventional method, and the cost is greatly reduced.
Drawings
Fig. 1 is a schematic structural view of a uniform electric field type robot tactile sensor of the present invention, in which reference numeral 1 is an insulating surface of an upper flexible layer, 2 is a conductive surface of the upper flexible layer, 3 is a mesh spacer, 4 is a conductive surface of a lower flexible layer, 5 is an insulating surface of the lower flexible layer, and 6 is a linear electrode.
Fig. 2 shows the upper flexible layer structure of the present invention, wherein reference numeral 1 is an insulating surface, 2 is a conductive surface, and 61 is a linear electrode.
Fig. 3 shows a lower flexible layer structure of the present invention, wherein reference numeral 4 is a conductive surface, 5 is an insulating surface, and 62 is a linear electrode.
Fig. 4 is a cross-sectional view of the structure of the present invention in compression, where 11 is the upper flexible layer, 3 is the mesh barrier layer, and 22 is the lower flexible layer.
Fig. 5 is a schematic diagram of the X-direction position measurement of the present invention, in which reference numeral 11 denotes an upper flexible layer, 22 denotes a lower flexible layer, and 62 denotes a linear electrode of the lower flexible layer.
Fig. 6 is a schematic diagram of the Y-direction position measurement of the present invention, in which reference numeral 11 denotes an upper flexible layer, 22 denotes a lower flexible layer, and 61 denotes a linear electrode of the upper flexible layer.
Fig. 7 is a schematic diagram of the position measurement of the present invention.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
The embodiment provides a uniform electric field type robot tactile sensor, as shown in fig. 1-4, which comprises an upper flexible layer 11, a mesh-shaped interlayer 3 and a lower flexible layer 22, wherein the upper flexible layer 11 and the lower flexible layer 22 are respectively formed by attaching a conductive surface and an insulating surface, the conductive surfaces are used as the inner surfaces 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 respectively and directly attached to the upper surface and the lower surface of the mesh-shaped interlayer; the two opposite sides of the conductive surfaces of the upper flexible layer and the lower flexible layer are respectively provided with a parallel linear electrode 6, and the linear electrode 61 of the upper flexible layer and the linear electrode 62 of the lower flexible layer are spliced into a rectangle with a closed size; the linear electrodes of the upper flexible layer and the linear electrodes of the lower flexible layer are arranged perpendicular to each other.
In this embodiment, the insulating surface serves as the outer surface of the upper flexible layer and the outer surface of the lower flexible layer, and the insulating surfaces 2 and 5 are polymer film substrates; the conductive surfaces 1 and 4 of the upper and lower flexible layers can be formed by spraying a layer of semiconductor medium with certain conductivity on the insulating surface.
In this embodiment, in order to make the resistance of the linear electrode have as little influence as possible on the rectangular electric field, the conductivity of the linear electrode is more than 10 times greater than that of the semiconductor medium on the conductive surfaces of the upper flexible layer and the lower flexible layer.
In this embodiment, in order to protect the tactile sensor from scratch damage, a viscoelastic protective film may be attached to the outer surfaces of the upper and lower flexible layers.
The structural size of the whole robot tactile sensor is not limited, and the size of the sensor can be manufactured according to practical application. In particular, in this embodiment, the conductive surface of the flexible layer is made of graphite paper, the linear electrode is made of aluminum foil, the joint between the linear 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 reticular interlayer is made of polyethylene molecular material, the thickness is 0.25mm, and the side length of the grid is 2 mm. The viscoelastic protective film is a silica gel material with the thickness of 1 mm.
According to the robot touch sensor, if a bias voltage is applied between the two electrodes on the conductive surface of the flexible layer, the parallel linear electrodes and the linear electrodes on the two conductive surfaces are perpendicular to each other and are sealed into a rectangle, a uniform electric field is generated between the two linear electrodes on the conductive surface, and based on the basic property of the uniform electric field, the electric potential value is distributed in the uniform electric field in an equal gradient manner 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 determined. According to the invention, if bias voltage is applied to the other group of opposite sides of the conductive surface according to the same method, the relative position of the point between the other group of electrodes can be measured, and if the two groups of linear electrodes are perpendicular to each other, the coordinate values of the contact point in two mutually perpendicular directions can be obtained. The invention designs two conductive surfaces and separates them by a net-shaped interlayer, when bias voltage is applied to one conductive layer, the other conductive layer plays a role of leading out a contact point potential signal.
In this embodiment, as shown in fig. 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, a planar XY coordinate system is established on the tactile sensor web, and the position detection is a process of detecting x and y coordinate values of the contact position:
1. FIG. 5 shows the measurement process of X-direction coordinate value, in which a bias voltage is applied to the strip-shaped electrodes on the conductive surface of the lower flexible layerAnd the upper flexible layer conductive surface is used as a measuring surface for measuring the potential value of the contact position, so that the X coordinate value can be obtained:
in the formula,the electric potential value of the contact point measured in the X-axis direction of the touch sensor.And the distance between the two linear electrodes on the conductive surface of the lower flexible layer.
2. The Y-direction position measurement process is as shown in FIG. 6, the bias voltage of the strip-shaped electrode on the conductive surface of the lower flexible layer is removed, and the bias voltage is applied to the linear electrode on the conductive surface of the upper flexible layerAnd the lower flexible layer conductive surface is used as a measuring surface for measuring the potential value of the contact position, so that the Y coordinate value can be obtained:
in the formula,the potential value of the contact point measured in the Y-axis direction of the touch sensor.The distance between two linear electrodes on the conductive surface of the upper flexible layer is set.
The contact point position coordinate measuring process is shown in fig. 7, and the position coordinates obtained in the X and Y directions are simultaneously obtained, that is, the position coordinates of the contact point can be obtained.
In summary, the detection method of the uniform electric field type robot tactile sensor in the present embodiment specifically includes the following steps:
step S1: applying a bias DC voltage between two linear electrodes arranged on a pair of sides of the conductive surface of the lower flexible layer；
Step S2: pressing any position of an insulating surface of an upper flexible layer in the touch sensor to enable the upper flexible layer to be in contact with a conductive surface of a lower flexible layer to obtain a contact point;
step S3: the conducting surface of the upper flexible layer is used as a leading-out wire of a contact point and is connected to a signal collector,
obtaining a voltage value；
Step S4: removing bias DC voltage of the lower flexible layerBias a DC voltageBetween two linear electrodes applied to the conductive side of the upper flexible layer;
step S5: the conducting surface of the lower flexible layer is used as a leading-out wire of a contact point and is connected to the signal collector to obtain a voltage value；
Step S6: the pressed position is released, and the coordinates (x, y) of the contact point at the pressed position are calculated according to the following formula:
wherein,for a value of the bias dc voltage applied between the two wire-like electrodes,，respectively are the voltage values of the contact points collected by the signal collector,，the distance between the linear electrodes of the upper flexible layer and the lower flexible layer is respectively.
The invention can simply generate uniform electric field, easily obtain the coordinate value of the contact position, has small volume, simple structure and good flexibility, can cover the surface of the robot in a large area and can effectively sense the contact position.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.
Claims (5)
1. A uniform electric field type robot tactile sensor is characterized in that: the flexible packaging film comprises an upper flexible layer, a reticular interlayer and a lower flexible layer, wherein the upper flexible layer and the lower flexible layer are respectively formed by attaching a conductive surface and an insulating surface, the conductive surfaces are used as the inner surfaces 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 and directly attached to the upper surface and the lower surface of the reticular interlayer; two opposite sides of the conductive surface of the upper flexible layer and the other two opposite sides of the conductive surface of the lower flexible layer are respectively provided with parallel linear electrodes, and the parallel linear electrodes arranged on the upper flexible layer and the parallel linear electrodes arranged on the lower flexible layer are spliced into a rectangle with a closed size; the linear electrodes of the upper flexible layer and the linear electrodes of the lower flexible layer are arranged perpendicular to each other.
2. The uniform electric field type robot tactile sensor according to claim 1, characterized in that: the insulating surface is used as the outer surfaces of the upper flexible layer and the lower flexible layer, and is a polymer film substrate; and a layer of semiconductor medium with certain conductivity and used for forming the conductive surfaces of the upper flexible layer and the lower flexible layer is sprayed on the insulating surface.
3. The uniform electric field type robot tactile sensor according to claim 1, characterized in that: the conductivity of the linear electrode is more than 10 times of that of the semiconductor medium on the conductive surfaces of the upper flexible layer and the lower flexible layer.
4. The uniform electric field type robot tactile sensor according to claim 2, characterized in that: and a viscoelastic protective film is attached to the outer surfaces of the upper flexible layer and the lower flexible layer.
5. A detection method of the uniform electric field type robot tactile sensor according to claim 1, characterized in that: the detection process of the contact position comprises the following steps:
step S1: applying a bias DC voltage between two linear electrodes arranged on a pair of sides of the conductive surface of the lower flexible layer；
Step S2: pressing any position of an insulating surface of an upper flexible layer in the touch sensor to enable the upper flexible layer to be in contact with a conductive surface of a lower flexible layer to obtain a contact point;
step S3: the conducting surface of the upper flexible layer is used as a leading-out wire of a contact point and is connected to a signal collector,
obtaining a voltage value；
Step S4: removing bias DC voltage of the lower flexible layerBias a DC voltageBetween two linear electrodes applied to the conductive side of the upper flexible layer;
step S5: the conducting surface of the lower flexible layer is used as a leading-out wire of a contact point and is connected to the signal collector to obtain a voltage value；
Step S6: the pressed position is released, and the coordinates (x, y) of the contact point at the pressed position are calculated according to the following formula:
wherein,for a value of the bias dc voltage applied between the two wire-like electrodes,，electricity of the contact points collected by the signal collector respectivelyThe value of the pressure is set according to the pressure,，the distance between the linear electrodes of the upper flexible layer and the lower flexible layer is respectively.
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Cited By (7)
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| CN106197772A (en) * | 2016-07-06 | 2016-12-07 | 无锡格菲电子薄膜科技有限公司 | A kind of pliable pressure sensor and preparation method thereof |
| CN106524886A (en) * | 2016-11-25 | 2017-03-22 | 张强 | Collision position detection device and system, and detection method |
| CN106969861A (en) * | 2017-04-17 | 2017-07-21 | 福州大学 | The detection method of robot touch sensor and contact position based on steady electric field |
| CN107179150A (en) * | 2017-05-23 | 2017-09-19 | 福州大学 | A kind of fan-like pattern robot touch sensor and its detection method |
| CN109141696A (en) * | 2018-07-31 | 2019-01-04 | 上海材料研究所 | A kind of flexible touch sensation sensor and its signal processing system based on piezoelectric membrane |
| CN111780659A (en) * | 2020-07-02 | 2020-10-16 | 山西工程职业学院 | Touch sensor based on pvdf piezoelectric film |
| CN114486008A (en) * | 2022-01-26 | 2022-05-13 | 中国电子科技集团公司第七研究所 | Flexible microstrip line, backscattering touch perception system and measuring method thereof |
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| CN106969861A (en) * | 2017-04-17 | 2017-07-21 | 福州大学 | The detection method of robot touch sensor and contact position based on steady electric field |
| CN106969861B (en) * | 2017-04-17 | 2019-08-09 | 福州大学 | The detection method of robot touch sensor and contact position based on steady electric field |
| CN107179150A (en) * | 2017-05-23 | 2017-09-19 | 福州大学 | A kind of fan-like pattern robot touch sensor and its detection method |
| CN109141696A (en) * | 2018-07-31 | 2019-01-04 | 上海材料研究所 | A kind of flexible touch sensation sensor and its signal processing system based on piezoelectric membrane |
| CN111780659A (en) * | 2020-07-02 | 2020-10-16 | 山西工程职业学院 | Touch sensor based on pvdf piezoelectric film |
| CN111780659B (en) * | 2020-07-02 | 2022-06-28 | 山西工程职业学院 | Touch sensor based on pvdf piezoelectric film |
| CN114486008A (en) * | 2022-01-26 | 2022-05-13 | 中国电子科技集团公司第七研究所 | Flexible microstrip line, backscattering touch perception system and measuring method thereof |
| CN114486008B (en) * | 2022-01-26 | 2023-08-04 | 中国电子科技集团公司第七研究所 | Flexible microstrip line, back scattering touch perception system and measuring method thereof |
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