CN105136344A - Non-uniform electric field type robot tactile sensor and detecting method thereof - Google Patents
Non-uniform electric field type robot tactile sensor and detecting method thereof Download PDFInfo
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- CN105136344A CN105136344A CN201510499477.3A CN201510499477A CN105136344A CN 105136344 A CN105136344 A CN 105136344A CN 201510499477 A CN201510499477 A CN 201510499477A CN 105136344 A CN105136344 A CN 105136344A
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- 230000005684 electric field Effects 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title abstract description 13
- 239000010410 layer Substances 0.000 claims abstract description 97
- 239000000463 material Substances 0.000 claims abstract description 15
- 239000011229 interlayer Substances 0.000 claims abstract description 12
- 238000003825 pressing Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 229920002521 macromolecule Polymers 0.000 claims description 4
- 239000012528 membrane Substances 0.000 claims description 4
- 239000004065 semiconductor Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical group [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910002804 graphite Inorganic materials 0.000 description 2
- 239000010439 graphite Substances 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 239000004698 Polyethylene Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000009828 non-uniform distribution Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- -1 polyethylene Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Manipulator (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention relates to a non-uniform electric field type robot tactile sensor and a detecting method thereof. The tactile sensor comprises an upper flexible layer, a net-shaped interlayer and a lower flexible layer. The upper flexible layer and the lower flexible layer are respectively obtained through combining a conductive surface and an insulated surface. Furthermore the conductive surface is used as the inner surface of each of the upper flexible layer and the lower flexible layer. The conductive surface of the upper flexible layer and the conductive surface of the lower flexible layer are respectively attached with the upper surface and the lower surface of the net-shaped interlayer directly. The conductive surface of the lower flexible layer is rectangular. The corners in two diagonal lines of the rectangular conductive surface are respectively provided with a point electrode. The electrodes at two end points in one diagonal line are A+ and A-, and the electrodes at end points in the other diagonal line are B+ and B-. According to the tactile sensor of the invention, a non-array layered structure is used; and the used material has high flexibility; and the used material can cover a large area on the surface of the robot and can effectively detect a collision position. The non-uniform electric field type robot tactile sensor and the detecting method have advantages of small size, simple structure, low cost and relatively high flexibility.
Description
Technical field
The invention belongs to field of sensing technologies, particularly a kind of non-uniform electric field humanoid robot touch sensor for collision detection contact position and detection method thereof.
Background technology
Tactile sensing device of robot's sensing technology is one of gordian technique realizing robot automtion.Surperficial forced position when being collided by measuring robots, robot obtains the azimuth information of barrier in environment, can formulate corresponding security decision, thus directly reduces the size of impact force and avoid secondary collision.Along with the development of MEMS technology and the appearance of various sensitive material, for the research of robot touch sensor, designing and making provide good basis.
Patent (CN101059380) has invented a kind of flexible capacitance type touch sensor, the size that arbitrary surfaces experiences normal force and tangential force simultaneously can be attached to, but employing array structure, the preparation technology of sensitive material is more complicated, the variant part of array is due to the nonidentity of production procedure, Manufacturing Techniques, also heterogencity be there will be to the characteristic of the different piece of same sensor array, excessive to the measuring error of irregular surface.Patent (CN203965077) has invented a kind of fexible film touch sensor, the method of electrostatic induction is adopted to be made into compliant electrodes layer on matrix, form sandwich structure fexible film, have and can cut out as arbitrary shape, the features such as flexibility is good, but the technique manufacturing process of its composite film electrode needs the many factors controlled, be difficult to ensure that each electrode manufactured can meet the requirements.By contrast, the present invention adopts non-array formula flexible structure, adopt conventional method can realize the preparation of materials and structures accessory, there is not the problem such as complex process and inhomogeneity prepared by material, good flexibility can be attached to arbitrary surfaces equally, can not there is the problems such as error is excessive to the measurement of irregular surface.
Summary of the invention
In view of this, the object of this invention is to provide a kind of non-uniform electric field humanoid robot touch sensor and detection method thereof, when machine person to person is in same environment together, collide for preventing robot and people, or for realizing human and computer people work compound, this touch sensor can be attached at robotic surface.This sensor adopts non-array layered structure, and material used all has flexibility, and large area can cover robotic surface and can collision detection position effectively, have volume little, structure is simple, the features such as cost is low, higher flexibility.
The present invention adopts following scheme to realize: a kind of non-uniform electric field humanoid robot touch sensor, comprise flexible layer, netted interlayer and lower flexible layer, described upper flexible layer and lower flexible layer are sticked to form by a conducting surface and an insulating surfaces, and described conducting surface is as the inside surface of upper flexible layer and lower flexible layer, the conducting surface of described upper flexible layer and lower flexible layer is directly attached at the upper and lower surface of described netted interlayer respectively; The conducting surface of described lower flexible layer is rectangle, and two groups of diagonal angles in rectangular conductive face are respectively provided with a point electrode, and the electrode on two summits on one group of diagonal angle is respectively A
+with A
-; The electrode on two summits on another group diagonal angle is respectively B
+with B
-.
Further, described insulating surfaces is as the outside surface of upper flexible layer and lower flexible layer, and described insulating surfaces is macromolecule membrane base material; Described insulating surfaces is coated with the semiconductor medium that one deck has the conducting surface in order to form described upper flexible layer and lower flexible layer of certain conductance.
Further, the outside surface of flexible layer and lower flexible layer all attaches one deck viscoelasticity diaphragm on described.
During the making contact position of non-uniform electric field humanoid robot touch sensor described in the present invention between measuring robots and Environment Obstacles thing, adopt following steps:
Step S1: at the corner electrode A of lower flexible layer conducting surface
+with A
-between apply a bias direct current voltage
, form an A electric field;
Step S2: any position of upper flexible layer insulating surfaces in pressing touch sensor, makes described upper flexible layer contact with the conducting surface of lower flexible layer, obtain a contact point;
Step S3: the conducting surface of described upper flexible layer, as the extension line of contact point, is connected to a signal picker, obtains magnitude of voltage
;
Step S4: remove described lower flexible layer conducting surface top electrode A
+with A
-between apply
, bias direct current voltage
be applied to another group corner electrode B of described lower flexible layer conducting surface
+with B
-between, form a B electric field;
Step S5: using the extension line of the conducting surface of described upper flexible layer as contact point, be connected to described signal picker, obtains magnitude of voltage
;
Step S6: unclamp pressing position, the contact point coordinate (x, y) at pressing position place solves by simultaneous following formula and obtains:
Wherein,
the constant coefficient through revising identification,
for being applied to the magnitude of voltage on corner electrode,
,
be respectively the potential value of contact point in A, B two electric fields; A, b are respectively the length of described lower flexible layer conducting surface and wide.
Compared with prior art, beneficial effect of the present invention is embodied in: the material that 1, structure of the present invention adopts all has flexibility, meets the requirement of artificial skin flexibility, large area can cover robot body surface, its physical dimension is unrestricted, can make according to actual needs; 2, lead-in wire is few, and structure is simple, and technological process is simple, and cost reduces greatly; 3, point electrode on be biased DC voltage, the attaching mode of the electric conductivity of electrode self and electrode and conducting surface is very little on the impact of measurement result, negligible.
Accompanying drawing explanation
Fig. 1 is the present invention's non-uniform electric field humanoid robot touch sensor structure diagram, and number in the figure 1 is the insulating surfaces of upper flexible layer, and 2 is the conducting surface of upper flexible layer, and 3 is netted interlayer, and 4 is the conducting surface of lower flexible layer, and 5 is the insulating surfaces of lower flexible layer, and 6 is point electrode.
Fig. 2 is upper flexible layer structure in the present invention, and number in the figure 1 is insulating surfaces, and 2 is conducting surface.
Fig. 3 is lower flexible layer structure in the present invention, and number in the figure 4 is conducting surface, and 5 is insulating surfaces, and 6 is point electrode.
Structural section figure when Fig. 4 is pressurized of the present invention, number in the figure 11 is upper flexible layer, and 3 is netted interlayer, and 22 is lower flexible layer.
Fig. 5 is position measurement schematic diagram of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention will be further described.
The present embodiment provides a kind of non-uniform electric field humanoid robot touch sensor, as Figure 1-4, comprise flexible layer 11, netted interlayer 3 and lower flexible layer 22, described upper flexible layer and lower flexible layer form by a conducting surface and an insulating surfaces, and described conducting surface is as the inside surface of upper flexible layer and lower flexible layer, the conducting surface 1 and 4 of described upper flexible layer and lower flexible layer is directly attached at the upper and lower surface of described netted interlayer respectively; The conducting surface of described lower flexible layer is rectangle, and two point electrodes two groups of diagonal angles in rectangular conductive face are respectively provided with on a point electrode 6, one group of diagonal angle are respectively A
+with A
-; Two point electrodes on another group diagonal angle are respectively B
+with B
-.
In the present embodiment, described insulating surfaces is as the outside surface of upper flexible layer and lower flexible layer, and described insulating surfaces 2 and 5 is macromolecule membrane base material; Described insulating surfaces is had by spraying one deck the semiconductor medium of certain conductance, then can form the conducting surface 1 and 4 of described upper flexible layer and lower flexible layer.
In the present embodiment, the outside surface of flexible layer and lower flexible layer all can attach one deck viscoelasticity diaphragm, for the protection of sensor from breakage on described.
The structure of whole sensor does not have size to limit, and can manufacture the size of sensor according to practical use.Especially, in the present embodiment, the conducting surface material of described upper flexible layer and lower flexible layer is graphite paper, and point electrode is directly welded on graphite paper two groups of diagonal angles, and insulating surfaces is macromolecule membrane base material.Central web interlayer adopts polyethylene molecule material, and thickness is 0.25mm, and the grid length of side is 2mm.Viscoelasticity diaphragm is the silica gel material of 1mm thickness.
Based on robot touch sensor of the present invention, if apply a bias voltage between the one group of corner electrode in lower flexible layer rectangular conductive face, according to point electrode shape of the present invention, radial non-uniform electric field field intensity then will be produced on rectangular conductive face, fundamental property based on electric field is known, even in non-uniform electric field, the equipotential line also mutual vertical distribution with lines of field intensity of Potential Distributing.Due to the non-uniform Distribution feature of field intensity, also right and wrong are even by force to cause Potential Distributing.But because conducting surface has fixing boundary condition, therefore, in conducting surface, the coordinate figure of the potential value of any point still with this in conducting surface has relation one to one, just has nonlinear characteristic.Therefore, if the potential value of certain o'clock under one group of corner electrode bias voltage can be recorded, this equipotential line relative position in conducting surface still can be tried to achieve.The equipotential line at same point place under another group corner electrode bias voltage if reentried, then the intersection point of two equipotential lines is contact position to be measured, thus obtains contact point coordinate figure.Two conducting surfaces of the present invention's design, lower conducting surface is for applying two groups of bias voltages, and upper conducting surface is used for the extension line as any contact position, and when sensor is pressed, upper conducting surface realizes contacting short circuit at the gap location of netted interlayer with lower conducting surface.
In the present embodiment, as shown in Figure 4, when applying external force at sensor surface, the conducting surface of upper flexible layer and the conducting surface of lower flexible layer are in the conducting of contact position short circuit, touch sensor breadth is set up plane X Y-coordinate system, position detect be exactly detect contact position (process of x, y) coordinate figure:
A electric field measurement:
Long be
, be widely
lower flexible layer conducting surface four angles on place four point electrodes (A+ and A-diagonal angle, B+, with B-diagonal angle), A group electrode applies driving voltage, and B group electrode is unsettled, and the electric field be now distributed on lower conductor face is designated as A electric field.With A-point for initial point, set up rectangular coordinate system as shown in Figure 5, if the position coordinates of contact point is
, then namely the voltage going up extension line on flexible layer conducting surface be the potential value of contact position in A electric field
, mathematic(al) representation is:
Wherein,
being the constant coefficient through revising identification, is known quantity.
B electric field measurement:
Remove the bias voltage on A group electrode, make A group electrode unsettled.B group electrode applies bias voltage
, the electric field be now distributed on lower conductor face is designated as B electric field.Namely the voltage then going up extension line on flexible layer conducting surface be the potential value of contact point in B electric field
, mathematic(al) representation is:
Wherein,
being the constant coefficient after revising identification, is known quantity.
In conjunction with two measuring processes, Simultaneous Equations can solve the coordinate of contact position
.The essence of whole measuring process is also find out electromotive force in A, B two electric fields to be respectively
with
equipotential line, and ask the intersecting point coordinate of two equipotential lines, as shown in Figure 5.
In the present embodiment, a kind of concrete steps of non-uniform electric field humanoid robot touch sensor detection contact position coordinate are as follows:
Step S1: at one group of diagonal angle point electrode A of lower flexible layer conducting surface
+with A
-between apply a bias direct current voltage
;
Step S2: any position of pressing touch sensor outside surface, makes described upper flexible layer contact with the conducting surface of lower flexible layer;
Step S3: the conducting surface of described upper flexible layer, as the extension line of contact point, is connected to a signal picker, obtains magnitude of voltage
;
Step S4: the one group of diagonal angle point electrode A removing described lower flexible layer conducting surface
+with A
-between apply
, bias direct current voltage
be applied to another group diagonal angle point electrode B of described lower flexible layer conducting surface
+with B
-between;
Step S5: using the extension line of the conducting surface of described upper flexible layer as contact point, be connected to described signal picker, obtains magnitude of voltage
;
Step S6: unclamp pressing position, the coordinate of pressing position solves by simultaneous following formula and obtains:
Wherein,
the constant coefficient through revising identification,
for being applied to the bias voltage value on corner electrode,
,
be respectively the potential value of contact point in A, B two electric fields, a, b are respectively the length of lower flexible layer conducting surface and wide.
Sensor bulk of the present invention is little, and structure is simple, and good flexibility large area can cover robot body surface, can effective perception contact position.Although non-even electricity field field pattern touch sensor is more complicated in the detection computations of contact position, owing to adopting point electrode, and electrode all distributes with on same conducting surface, manufactures simpler, longer service life.
The foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.
Claims (4)
1. a non-uniform electric field humanoid robot touch sensor, it is characterized in that: comprise flexible layer, netted interlayer and lower flexible layer, described upper flexible layer and lower flexible layer are sticked to form by a conducting surface and an insulating surfaces, and described conducting surface is as the inside surface of upper flexible layer and lower flexible layer, the conducting surface of described upper flexible layer and lower flexible layer is directly attached at the upper and lower surface of described netted interlayer respectively; The conducting surface of described lower flexible layer is rectangle, and two groups of diagonal angles in rectangular conductive face are respectively provided with a point electrode, and the electrode on two summits on one group of diagonal angle is respectively A
+with A
-; The electrode on two summits on another group diagonal angle is respectively B
+with B
-.
2. one according to claim 1 non-uniform electric field humanoid robot touch sensor, is characterized in that: described insulating surfaces is as the outside surface of upper flexible layer and lower flexible layer, and described insulating surfaces is macromolecule membrane base material; Described insulating surfaces is coated with the semiconductor medium that one deck has the conducting surface in order to form described upper flexible layer and lower flexible layer of certain conductance.
3. one according to claim 2 non-uniform electric field humanoid robot touch sensor, is characterized in that: the outside surface of flexible layer and lower flexible layer all attaches one deck viscoelasticity diaphragm on described.
4. a detection method for non-uniform electric field humanoid robot touch sensor as defined in claim 1, is characterized in that: detect contact point coordinate and comprise the following steps:
Step S1: at the corner electrode A of lower flexible layer conducting surface
+with A
-between apply a bias direct current voltage
, form an A electric field;
Step S2: any position of upper flexible layer insulating surfaces in pressing touch sensor, makes described upper flexible layer contact with the conducting surface of lower flexible layer, obtain a contact point;
Step S3: the conducting surface of described upper flexible layer, as the extension line of contact point, is connected to a signal picker, obtains magnitude of voltage
;
Step S4: remove described lower flexible layer conducting surface top electrode A
+with A
-between apply
, bias direct current voltage
be applied to another group corner electrode B of described lower flexible layer conducting surface
+with B
-between, form a B electric field;
Step S5: using the extension line of the conducting surface of described upper flexible layer as contact point, be connected to described signal picker, obtains magnitude of voltage
;
Step S6: unclamp pressing position, the contact point coordinate (x, y) at pressing position place solves by simultaneous following formula and obtains:
Wherein,
the constant coefficient through revising identification,
for being applied to the magnitude of voltage on corner electrode,
,
be respectively the potential value of contact point in A, B two electric fields; A, b are respectively the length of described lower flexible layer conducting surface and wide.
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|---|---|---|---|
| CN201510499477.3A CN105136344B (en) | 2015-08-15 | 2015-08-15 | Non- uniform electric field humanoid robot touch sensor and its detection method |
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| CN105136344A true CN105136344A (en) | 2015-12-09 |
| CN105136344B CN105136344B (en) | 2018-02-09 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107479690A (en) * | 2017-06-21 | 2017-12-15 | 北京大学 | The self-driven simulator locating method of electronic skin structure and electronic skin structure |
| CN113008418A (en) * | 2021-02-26 | 2021-06-22 | 福州大学 | Flexible tactile sensor of pressure drag type |
| CN114577238A (en) * | 2022-02-14 | 2022-06-03 | 中国科学院合肥物质科学研究院 | Integrated touch sensor based on electrical impedance imaging and application thereof |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| CN107479690A (en) * | 2017-06-21 | 2017-12-15 | 北京大学 | The self-driven simulator locating method of electronic skin structure and electronic skin structure |
| CN107479690B (en) * | 2017-06-21 | 2019-12-10 | 北京大学 | Electronic skin structure and self-driven analog positioning method of electronic skin structure |
| CN113008418A (en) * | 2021-02-26 | 2021-06-22 | 福州大学 | Flexible tactile sensor of pressure drag type |
| CN114577238A (en) * | 2022-02-14 | 2022-06-03 | 中国科学院合肥物质科学研究院 | Integrated touch sensor based on electrical impedance imaging and application thereof |
| CN114577238B (en) * | 2022-02-14 | 2023-05-16 | 中国科学院合肥物质科学研究院 | Detection method of integrated touch sensor based on electrical impedance imaging |
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