CN105067161B - Uniform electric field humanoid robot touch sensor and its detection method - Google Patents
Uniform electric field humanoid robot touch sensor and its detection method Download PDFInfo
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- CN105067161B CN105067161B CN201510499479.2A CN201510499479A CN105067161B CN 105067161 B CN105067161 B CN 105067161B CN 201510499479 A CN201510499479 A CN 201510499479A CN 105067161 B CN105067161 B CN 105067161B
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- 230000005684 electric field Effects 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 title claims abstract description 11
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- 238000000034 method Methods 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims abstract description 15
- 239000011229 interlayer Substances 0.000 claims abstract description 12
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- 229920002521 macromolecule Polymers 0.000 claims description 3
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- 239000012212 insulator Substances 0.000 claims description 2
- 238000005259 measurement Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 6
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical group [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
- 239000005030 aluminium foil Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
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- 229910002804 graphite Inorganic materials 0.000 description 1
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The present invention relates to a kind of uniform electric field humanoid robot touch sensor and its detection method, the touch sensor includes upper flexible layer, netted interlayer and lower flexible layer, the upper flexible layer is sticked to form with lower flexible layer by a conducting surface and an insulating surfaces, and inner surface of the conducting surface as upper flexible layer and lower flexible layer, the conducting surface of the upper flexible layer and lower flexible layer are attached directly to the upper and lower surface of the netted interlayer respectively；Two opposite side of the upper flexible layer conducting surface are equipped with parallel wire electrode with the two further pairs side of lower flexible layer conducting surface, and the parallel wire electrode of the upper flexible layer and the lower flexible layer present situation electrode are combined into the rectangle of dimensions closure；The wire electrode of the upper flexible layer and the wire electrode of the lower flexible layer are mutually perpendicular to arrange.The material that the present invention uses is respectively provided with flexibility, can effectively detect making contact position, has small, and simple in structure, technique makes simple, the features such as cost is low, higher flexibility.
Description
Technical field
The invention belongs to field of sensing technologies, more particularly to a kind of even electricity field field pattern machine that can detect making contact position
Device people touch sensor and its detection method.
Background technology
Tactile is of great practical significance in the interaction of human and environment, for robot, tactile sensing
Device is the effective way that robot obtains external information, and by obtaining tactile data, robot can make necessary response in time,
Improve the ability of response environment.With the continuous development of MEMS technology and the appearance of various sensitive materials, to develop robot
Touch sensor has established good basis.
Patent（CN101059380）A kind of flexible capacitance type touch sensor has been invented, arbitrary surfaces can be attached to, can be same
When experience the size of normal force and tangential force, but it uses array architecture, and the preparation process of sensitive material is more complicated, array
It is variant partially due to production procedure, the nonidentity of Manufacturing Techniques, to the different piece of same sensor array
Heterogencity also occurs in characteristic.Patent (CN203965077) has invented a kind of fexible film touch sensor, is lured using electrostatic
The method led is fabricated on matrix to compliant electrodes layer, forms sandwich structure fexible film, and having can cut out as arbitrary shape
The features such as shape, flexibility is good, but the factor that the technique manufacturing process needs of its composite film electrode control is more, it is difficult to ensure each
The electrode of manufacture can meet the requirements.In contrast, the present invention uses non-array formula flexible structure, prepared by material and structural fittings
Simply, there is no the problems such as the complex process and inhomogeneity of material preparation, good flexibility can equally be attached to any table
Face, the measurement to irregular surface are not in the problems such as error is excessive.
The content of the invention
In consideration of it, the object of the present invention is to provide a kind of uniform electric field humanoid robot touch sensor and its detection method.
The material of use is respectively provided with flexibility, can effectively detect position of collision, have it is small, it is simple in structure, technique make it is simple,
The characteristics of cost is low, higher flexibility.
The present invention is realized using following scheme：A kind of uniform electric field humanoid robot touch sensor, including upper flexible layer, net
Shape interlayer and lower flexible layer, the upper flexible layer is sticked to form with lower flexible layer by a conducting surface and an insulating surfaces, and institute
It is direct as upper flexible layer and the inner surface of lower flexible layer, the conducting surface difference of the upper flexible layer and lower flexible layer to state conducting surface
It is attached at the upper and lower surface of the netted interlayer；Two opposite side of the upper flexible layer conducting surface and lower flexible layer conducting surface are in addition
Two opposite side are equipped with parallel wire electrode, and on the parallel line shaped electrode set on the upper flexible layer and the lower flexible layer
The parallel line shaped electrode of setting is combined into the rectangle of dimensions closure；The line of the wire electrode of the upper flexible layer and the lower flexible layer
Shape electrode is mutually perpendicular to arrange.
Further, outer surface of the insulating surfaces as upper flexible layer and lower flexible layer, and the insulating surfaces are high score
Sub- film substrate；Be coated with the insulating surfaces one layer have certain conductivity forming the upper flexible layer and lower flexibility
The semiconductor medium of the conducting surface of layer.
Further, the electrical conductivity of the wire electrode is led more than the conducting surface upper half of the upper flexible layer and lower flexible layer
More than 10 times of the electrical conductivity of body medium.
Further, the outer surface of flexible layer and lower flexible layer attaches one layer of viscoplasticity protective film on described.
The detection method of heretofore described uniform electric field humanoid robot touch sensor, it perceives the machine of contact position
Reason is to be based on uniform electric field method, and the detection process of contact position specifically includes following steps：
Step S1：It is straight to apply a biasing between two wire electrodes that an opposite side of the lower flexible layer conducting surface is equipped with
Galvanic electricity pressure；
Step S2：Any position of upper flexible layer insulating surfaces in touch sensor is pressed, makes the upper flexible layer soft with
Property layer conducting surface contact, obtain a contact point；
Step S3：Lead-out wire using the conducting surface of the upper flexible layer as contact point, is connected to a signal picker,
Obtain magnitude of voltage；
Step S4：Remove the bias direct current voltage of the lower flexible layer, bias direct current voltageIt is applied on described
Between two wire electrodes of flexible layer conducting surface；
Step S5：Lead-out wire using the conducting surface of the lower flexible layer as contact point, is connected to the signal picker,
Obtain magnitude of voltage；
Step S6：Pressing position is unclamped, and the contact point coordinates at pressing position is calculated according to equation below（x,y）：
Wherein,To be applied to the bias direct current magnitude of voltage between two wire electrodes,,Respectively described signal is adopted
The magnitude of voltage for the contact point that storage collects,,Between between respectively described upper flexible layer and lower flexible layer wire electrode
Away from.
Compared with prior art, the present invention has the following advantages：1st, the material that structure of the present invention uses is respectively provided with flexibility, full
The requirement of biped robot touch sensor flexibility, can large area be covered in robot body surface, its structure size is unrestricted, energy
It is enough to make according to actual needs；2nd, lead is few, simple in structure, and signal extraction is simple with processing, simple mathematical model, reduces CPU
The time is calculated, disclosure satisfy that the requirement of real-time.3rd, manufacturing process flow is simple, and material can pass through routine without particular/special requirement
Prepared by method, cost substantially reduces.
Brief description of the drawings
Fig. 1 is the structure diagram of uniform electric field humanoid robot touch sensor of the present invention, and figure label 1 is upper flexible layer
Insulating surfaces, 2 be the conducting surface of upper flexible layer, and 3 be netted interlayer, and 4 be the conducting surface of lower flexible layer, and 5 be the insulation of lower flexible layer
Face, 6 be wire electrode.
Fig. 2 is the upper flexible layer structure of the present invention, and figure label 1 is insulating surfaces, and 2 be conducting surface, and 61 be wire electrode.
Fig. 3 is flexible layer structure under the present invention, and figure label 4 is conducting surface, and 5 be insulating surfaces, and 62 be wire electrode.
Fig. 4 is the structural section figure when present invention is pressurized, and figure label 11 is upper flexible layer, and 3 be netted interlayer, under 22 are
Flexible layer.
Fig. 5 is X-direction position measurement schematic diagram of the present invention, and figure label 11 is upper flexible layer, and 22 be lower flexible layer, and 62 are
The wire electrode of lower flexible layer.
Fig. 6 is Y-direction position measurement schematic diagram of the present invention, and figure label 11 is upper flexible layer, and 22 be lower flexible layer, and 61 are
The wire electrode of upper flexible layer.
Fig. 7 is position measurement schematic diagram of the present invention.
Embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
The present embodiment provides a kind of uniform electric field humanoid robot touch sensor, as Figure 1-Figure 4, including upper flexible layer
11st, netted interlayer 3 and lower flexible layer 22, the upper flexible layer 11 is with lower flexible layer 22 by a conducting surface and an insulation face paste
It is combined into, and the conducting surface is led as upper flexible layer and the inner surface of lower flexible layer, the upper flexible layer with lower flexible layer
Electric face 1 and 4 is attached directly to the upper and lower surface of the netted interlayer respectively；The upper flexible layer and the conducting surface of lower flexible layer
Two opposite side are equipped with parallel wire electrode 6, and the wire electrode 61 of the upper flexible layer and the lower flexible layer wire electrode
62 are combined into the rectangle of dimensions closure；The wire electrode of the upper flexible layer and the wire electrode of the lower flexible layer are mutually perpendicular to cloth
Put.
In the present embodiment, outer surface of the insulating surfaces as upper flexible layer and lower flexible layer, and 2 He of the insulating surfaces
5 be macromolecule membrane base material；By spraying one layer of semiconductor medium with certain conductivity in the insulating surfaces, can be formed
The conducting surface 1 and 4 of the upper flexible layer and lower flexible layer.
In the present embodiment, in order to make the resistive of wire electrode produce as few as possible influence, the line to rectangle electric field
The electrical conductivity of shape electrode is more than more than 10 times of the electrical conductivity of the conducting surface semiconductor-on-insulator medium of the upper flexible layer and lower flexible layer.
In the present embodiment, in order to protect touch sensor from scraping damage, flexible layer and lower flexible layer on described
Outer surface can attach one layer of viscoplasticity protective film.
The structure size of whole robot touch sensor does not limit, and can manufacture sensor according to practical use
Size.Particularly, in the present embodiment, the conducting surface material of flexible layer is graphite paper, and wire electrode uses aluminium foil, wire electricity
The joining place of pole and conducting surface smears silver paste, strengthens electric conductivity, and insulating surfaces use macromolecule membrane base material.Central web interlayer
Using polyethylene molecule material, thickness 0.25mm, side length of element 2mm.Viscoplasticity protective film is the silica gel material of 1mm thickness
Material.
Based on robot touch sensor of the present invention, if it is inclined to apply one between two electrode of flexible layer conducting surface
Voltage is put, is mutually perpendicular to and closes into according to parallel line shaped electrode of the present invention, and the wire electrode of two conducting surfaces
Rectangle, then will produce uniform electric field between two wire electrode of conducting surface, and the fundamental property based on uniform electric field is understood, even
In highfield, potential value is distributed along direction of an electric field constant gradient.If it is possible to measure the potential value of certain point, you can further
Try to achieve relative position of this o'clock between two wire electrodes.According to of the present invention, if in conducting surface another set opposite side
Apply bias voltage after the same method, equally can also measure relative position of this between another set electrode, if
This two groups of wire electrodes are mutually perpendicular to, then contact point can be obtained in the coordinate value of two mutually perpendicular directions.Present invention design
Two conducting surfaces and the purpose separated by netted interlayer, are another conductive layers when applying bias voltage to a certain conductive layer
Play the role of drawing contact point electric potential signal.
In the present embodiment, as shown in Fig. 4, when applying external force on robot touch sensor surface, upper flexible layer
Conducting surface connects short circuit with the conducting surface of lower flexible layer in contact position, and plane XY coordinates are established on touch sensor breadth
System, position detection is exactly to detect the process of contact position x, y-coordinate value：
1st, X-direction coordinate value measurement process on the strip electrode of lower flexible layer conducting surface as shown in figure 5, apply biased electrical
Pressure, upper flexible layer conducting surface is as measuring surface, for measuring the potential value of contact position, so as to try to achieve X-coordinate value：
In formula,The potential value measured for contact point in touch sensor X-direction.Lower two lines of flexible layer conducting surface
The interelectrode spacing of shape.
2nd, Y-direction position measurement process is right as shown in fig. 6, remove the bias voltage of lower flexible layer conducting surface strip electrode
The wire electrode of upper flexible layer conducting surface applies bias voltage, lower flexible layer conducting surface is as measuring surface, for measuring contact
The potential value of position, so as to try to achieve Y-coordinate value:
In formula,The potential value measured for contact point in touch sensor Y direction.For upper flexible layer conducting surface two
Spacing between a wire electrode.
Contacting points position measurement of coordinates process is as shown in fig. 7, the position coordinates that simultaneous is tried to achieve in X and Y-direction, you can tries to achieve
The position coordinates of contact point.
In conclusion the detection method of the uniform electric field humanoid robot touch sensor described in the present embodiment is specifically wrapped
Include following steps：
Step S1：It is straight to apply a biasing between two wire electrodes that an opposite side of the lower flexible layer conducting surface is equipped with
Galvanic electricity pressure；
Step S2：Any position of upper flexible layer insulating surfaces in touch sensor is pressed, makes the upper flexible layer soft with
Property layer conducting surface contact, obtain a contact point；
Step S3：Lead-out wire using the conducting surface of the upper flexible layer as contact point, is connected to a signal picker,
Obtain magnitude of voltage；
Step S4：Remove the bias direct current voltage of the lower flexible layer, bias direct current voltageIt is applied on described
Between two wire electrodes of flexible layer conducting surface；
Step S5：Lead-out wire using the conducting surface of the lower flexible layer as contact point, is connected to the signal picker,
Obtain magnitude of voltage；
Step S6：Pressing position is unclamped, and the contact point coordinates at pressing position is calculated according to equation below（x,y）：
Wherein,To be applied to the bias direct current magnitude of voltage between two wire electrodes,,Respectively described signal is adopted
The magnitude of voltage for the contact point that storage collects,,Between between respectively described upper flexible layer and lower flexible layer wire electrode
Away from.
The present invention can be very easy generation uniform electric field, easily try to achieve the coordinate value of contact position, small, structure
Simply, good flexibility can be covered in robot body surface with large area, can effectively perceive contact position.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification, should all belong to the covering scope of the present invention.
Claims (5)
- A kind of 1. uniform electric field humanoid robot touch sensor, it is characterised in that：Including upper flexible layer, netted interlayer and under it is soft Property layer, the upper flexible layer is sticked to form with lower flexible layer by a conducting surface and an insulating surfaces, and the conducting surface is as upper The conducting surface of the inner surface of flexible layer and lower flexible layer, the upper flexible layer and lower flexible layer is attached directly to described netted respectively The upper and lower surface of interlayer；Two opposite side of the upper flexible layer conducting surface and the two further pairs side of lower flexible layer conducting surface are equipped with flat Capable wire electrode, and the parallel line shaped electrode set on the upper flexible layer and the parallel line shaped set on the lower flexible layer Electrode is combined into the rectangle of dimensions closure；The wire electrode of the upper flexible layer and the wire electrode of the lower flexible layer are mutually perpendicular to Arrangement.
- A kind of 2. uniform electric field humanoid robot touch sensor according to claim 1, it is characterised in that：The insulating surfaces As the outer surface of upper flexible layer and lower flexible layer, and the insulating surfaces are macromolecule membrane base material；Sprayed in the insulating surfaces Have one layer have certain conductivity forming the semiconductor medium of the conducting surface of the upper flexible layer and lower flexible layer.
- A kind of 3. uniform electric field humanoid robot touch sensor according to claim 1, it is characterised in that：The wire electricity The electrical conductivity of pole is more than 10 times of the upper flexible layer and the electrical conductivity of the conducting surface semiconductor-on-insulator medium of lower flexible layer.
- A kind of 4. uniform electric field humanoid robot touch sensor according to claim 2, it is characterised in that：It is soft described Property layer and lower flexible layer outer surface attach one layer of viscoplasticity protective film.
- A kind of 5. detection method of uniform electric field humanoid robot touch sensor as claimed in claim 1, it is characterised in that：Connect The detection process for touching position comprises the following steps：Step S1：Apply bias direct current electricity between two wire electrodes that an opposite side of the lower flexible layer conducting surface is equipped with Press Vcc；Step S2：Any position of upper flexible layer insulating surfaces in touch sensor is pressed, makes the upper flexible layer and lower flexible layer Conducting surface contact, obtain a contact point；Step S3：Lead-out wire using the conducting surface of the upper flexible layer as contact point, is connected to a signal picker,Obtain magnitude of voltageStep S4：The bias direct current voltage vcc of the lower flexible layer is removed, bias direct current voltage vcc is applied to described soft Between two wire electrodes of property layer conducting surface；Step S5：Lead-out wire using the conducting surface of the lower flexible layer as contact point, is connected to the signal picker, obtains Magnitude of voltageStep S6：Pressing position is unclamped, and the contact point coordinates (x, y) at pressing position is calculated according to equation below：Wherein, Vcc is the bias direct current magnitude of voltage being applied between two wire electrodes,Respectively described signal acquisition The magnitude of voltage for the contact point that device collects, dx, dySpacing between respectively described upper flexible layer and lower flexible layer wire electrode.
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| CN106197772B (en) * | 2016-07-06 | 2020-01-03 | 无锡第六元素电子薄膜科技有限公司 | Flexible 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 |
| 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 |
| CN109141696B (en) * | 2018-07-31 | 2020-08-25 | 上海材料研究所 | Flexible touch sensor based on piezoelectric film and signal processing system thereof |
| CN111780659B (en) * | 2020-07-02 | 2022-06-28 | 山西工程职业学院 | Touch sensor based on pvdf piezoelectric film |
| 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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| CN100552398C (en) * | 2005-09-30 | 2009-10-21 | 重庆大学 | The touch sensing costume of intelligent robot |
| ES2294934B1 (en) * | 2006-07-06 | 2008-11-16 | Fundacio Privada Per A La Innovacio Textil D'igualada | TEXTILE SENSOR OF PRESSURE AND / OR TENSION AND / OR TORSION EFFORTS. |
| US20080185193A1 (en) * | 2007-01-30 | 2008-08-07 | Jao-Ching Lin | Touch pad structure |
| US7944008B2 (en) * | 2007-04-23 | 2011-05-17 | Sierra Scientific Instruments, Llc | Suspended membrane pressure sensing array |
| CN201212988Y (en) * | 2008-05-28 | 2009-03-25 | 敏理投资股份有限公司 | Touch control panel with high combining strength |
| EP2333645B1 (en) * | 2008-12-25 | 2014-02-12 | Nissha Printing Co., Ltd. | Touch panel having pressing force detecting function and pressure sensitive sensor for touch panel |
| GB2468870B (en) * | 2009-03-25 | 2016-08-03 | Peratech Holdco Ltd | Sensor |
| CN103411710B (en) * | 2013-08-12 | 2016-04-06 | 北京纳米能源与系统研究所 | A kind of pressure transducer, electronic skin and touch-screen equipment |
| CN104266788A (en) * | 2014-09-04 | 2015-01-07 | 上海工程技术大学 | Flexible capacitive pressure sensing device |
| CN104827491B (en) * | 2015-04-30 | 2016-04-27 | 广东双虹新材料科技有限公司 | The intelligence machine application on human skin of high sensitivity |
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