CN107807741B - Multi-channel touch sensor based on pointing stick and corresponding control method - Google Patents
Multi-channel touch sensor based on pointing stick and corresponding control method Download PDFInfo
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- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
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Abstract
The invention discloses a multi-channel touch sensor based on a track point, which relates to the field of robot engineering and is realized by integrating a plurality of track points, and comprises a plurality of track points, a mother board connected with the track points and an external wireless transceiver, wherein the track points are connected with the mother board through an eight-pin FPC (flexible printed circuit) card seat with the distance of one millimeter, a main control chip of the mother board selects one track point to be communicated through a sheet multiplexer, the main control chip packs the data according to a preset format and sends the data to an upper computer through a wireless module nRF24L01+, and the upper computer is responsible for subsequent signal processing, wherein the multi-channel touch sensor based on the track points can be connected with eight track points at most, supports sixteen degrees of freedom at most, can control the communication period within one hundred milliseconds, has wide application occasions, and can be used for the design of a multi-degree-of freedom control handle, The design of the gripper at the tail end of the robot and the like.
Description
Technical Field
The invention relates to a multi-channel touch sensor, in particular to a multi-channel touch sensor based on a track point.
Background
The touch sense is one of the important forms of information acquired from the external environment by most organisms in the nature, the broad sense of touch is the combination of contact, pressure, sliding, temperature, humidity and the like, the narrow sense of touch is the force sense on the contact surface, and the strict concept includes the contact sense, the pressure sense and the sliding sense. The touch sense has very important practical significance for the telepresence degree and the interactivity in the virtual reality technology.
A tactile sensor is a sensor used in a robot to simulate a tactile function. The research starts in the seventies of the last century, and in the development process of more than forty years, researchers at home and abroad do a lot of work in many aspects such as the research of the working mechanism of the sensor, the development of sensitive materials, the structural design of the sensor, the processing of touch images and the like, and obtain huge achievements. The touch sensors can be classified into a touch sensor, a force-moment sensor, a pressure sensor, a slip sensor, and the like according to their functions.
The challenges of industrial robots at present are mainly focused on interactivity, collaboration and safety. How the robotic arm perceives the surrounding environment is critical to these challenges. The touch or force sensor is an indispensable part for the robot to evolve from repeated work to a certain autonomy. Traditional tactile or force sensors are mostly two-channel or 3-channel, but are far from sufficient when the robot is faced with a complex unstructured environment. Therefore, it is very necessary to develop a low-cost and highly scalable multi-channel touch sensor.
U.S. patent application No. 5,521,596 entitled Analog input device with device located inside primary typing area of keyboard, proposes a mouse control technique that converts the force applied by a finger into the output of mouse coordinates, and its force sensing device is a strain gauge that can identify the magnitude of two forces in orthogonal directions, but the device has only two channels, i.e., x, y channels. Although successful in mouse applications, it cannot be applied to the field of industrial robots where the channel requirements are higher.
Vogt et al, IEEE Sensors Journal, 2013,13(10), disclose a document "Design and characterization of a soft multi-axis force sensor using embedded microfluidic channels". A three-axis soft body force sensor is designed by utilizing the conductive characteristic of a micro-flow pipeline, and the influence of various design parameters on the sensor effect is also researched, but the design has the defects of few output channels, small output range, immature technical application and the like.
Kim et al, in IEEE/ASME Transactions on mechanics, 2016, PP (99), disclose a document "A novel six-axis force/moment sensor for robot applications" a six-axis force/moment sensor based on capacitance change, which has the advantages of compact structure, low cost, etc., but its small output range, poor expandability, large crosstalk between signal channels, etc., limits its large-scale application.
Therefore, those skilled in the art are dedicated to find a cost-effective solution to construct a multi-channel multi-dimensional tactile sensor applicable to a robot, which has a simple structure, strong practicability, strong expandability and small signal channel crosstalk, so as to implement a high resolution, high flexibility, and an industrial robot that can be freely customized infinitely, such as a typical force control device.
Disclosure of Invention
In order to solve the existing problems, the invention designs a multi-channel tactile sensor based on a track point. The multi-channel touch sensor is realized through the commonly used track point, the defects of few channels, poor expandability and large crosstalk between signal channels of the touch sensor in the prior art are overcome, the track point is low in cost, the industrial application is facilitated, and particularly the multi-channel touch sensor can be popularized and applied on an industrial robot. The prior application of a pointing stick to an industrial robot has not been found in the art.
The "pointing stick" referred to in the present invention means a pointing device which is mainly applied to a notebook computer at present. The track point was invented by the scientist, Ted Selker, and applied to a number of notebook computer brands, including ThinkPad, Del, Hewlett-packard, Fuji. Different notebook manufacturers often refer to the Track point products they produce differently, ThinkPad is called "TrackPoint", and Dell is called "Track Stick", commonly called "small red dot".
The technical scheme adopted by the invention is as follows:
the invention adopts a multi-channel touch sensor based on a track point, wherein the sensor comprises a track point, a connecting mother board and an external wireless transceiver, the track point is electrically connected with the connecting mother board, and the connecting mother board is in communication connection with the external wireless transceiver.
Further, the number of the pointing sticks is 8, and the external wireless transceiver is an nRF24L01+ wireless module.
Furthermore, the pointing stick is connected with the connecting motherboard through an 8-pin FPC card seat with the distance of 1 millimeter, the nRF24L01+ wireless module is communicated with the wireless transceiver carried on the board of the connecting motherboard in a 2.4GHz wireless communication mode, and the nRF24L01+ wireless module can be inserted into a personal computer for data transmission.
Furthermore, the connection motherboard comprises a main control chip, two multiplexers, two voltage stabilizing chips, a plurality of FPC card seats, an onboard wireless transceiver, a USB Mini B type female head and a resistance-capacitance element.
Furthermore, 4I/O ports of the main control chip are respectively connected with chip selection pins OE and channel selection pins S0-S2 of the two multiplexers, and the other 2I/O ports of the main control chip are respectively connected with output pins of the multiplexers; the input pins of the multiplexer are respectively connected with the clock pin and the data pin of the FPC card seat, the definition of each pin of the FPC is the same as that of the pin of the pointing stick, and the clock pin of the FPC is also connected with the I/O port of the main control chip.
Furthermore, the main control chip is connected with the wireless transceiver module through the SPI interface in the main control chip, and the external internal fracture of the main control chip is distributed to be connected with the interrupt pin of the wireless module.
Furthermore, the corresponding pin of the main control chip is connected with the corresponding pin of the USB Mini B type female head.
More specifically, the connection motherboard comprises an Atmega32u4 main control chip, an SN74CBT3251 multiplexer, an SPX1117 voltage stabilizing chip, an eight-pin FPC card seat with one millimeter spacing, a USB Mini B type female head and a resistance-capacitance device, wherein the PF0, PF1, PF4 and PF5 of the main control chip are respectively connected with OE, S0, S1 and S2 of the SN74CBT3251 multiplexer, PD5 and PD2 of the main control chip are respectively connected with output pins of two SN74CBT3251 multiplexers, B1-B8 pins of the SN74CBT3251 multiplexer are respectively connected with Dat pins of 8 FPC card seats, B1-B8 pins of the SN74CBT3251 multiplexer are respectively connected with Clk pins of 8 FPC card seats, pins of mBtn, rBtn and lBtn of the 8 FPCs are suspended, pins of Rst, Dat and Clk are connected with corresponding resistance-capacitance elements according to the impedance requirement, the Clk pins of the 8 FPCs are respectively connected with a PC7, a PC6, a PB6, a PB5, a PB4, a PD7, a PD6 and a PD4 of the main control chip; the input termination 7.4V power of two SPX1117 voltage stabilizing chip, wireless module power supply is given to voltage stabilizing chip 3.3V's output, whole system power supply is given to voltage stabilizing chip's 5V output, each pin of board-mounted wireless transceiver's connector is connected with the corresponding pin of main control chip SPI interface, the interrupt request pin of board-mounted wireless transceiver's connector and main control chip's PD0 link to each other.
And the other components such as the resistance-capacitance element and the voltage stabilizing chip are subjected to parameter selection and connection according to specification requirements or impedance requirements.
Because the communication between the track point and the connecting plate can be completed only by matching according to strict time sequence, the invention also provides a method for controlling the multi-channel touch sensor based on the track point, which comprises the following steps:
step S1: the main control chip opens a channel of the pointing stick by controlling the multiplexer and carries out serial communication by controlling the Clk signal of the channel;
step S2: after one channel is opened, the main control chip sets a buffer time to wait for the track point to send data;
step S3: detecting whether data are received or not in the buffering time, if the data are not received, executing the step S31, otherwise, executing the step S32;
step S31: forbidding the communication of the channel, assigning the coordinate of the pointing stick as 0, and finally closing the channel;
step S32: the main control chip delays for a preset time and then forbids the communication of the channel, and simultaneously, in order to ensure that the output sending frequency is fixed, the main control chip delays for another preset time;
step S4: the main control chip judges whether the number of bytes in the data buffer is three, if yes, the step S41 is executed, otherwise, the step S42 is executed;
step S41: assigning the three bytes to corresponding variables respectively and closing the channel;
step S42: assigning the relevant variable to zero and emptying a buffer, then closing the channel, and copying the relevant variable to a corresponding position of a predefined vector;
step S5: the above process is repeated until the data of all channels are processed, and then the vector mentioned earlier is sent to the upper computer through the wireless module for subsequent processing.
Meanwhile, the invention also provides a systematized embodiment comprising the multi-channel tactile sensor based on the track point.
The invention can be connected with as many as eight track points by designing a compact hardware circuit, and because each track point has two degrees of freedom, the invention supports sixteen degrees of freedom to the maximum extent; in addition, by means of ingenious time sequence matching, the maximum communication period of the invention can be controlled within 100 milliseconds; a wireless data transmission mode is adopted, so that data transmission is more convenient and flexible; in conclusion, the multi-freedom-degree control handle has the characteristics of low cost, strong expandability, flexible configuration and the like, is wide in application occasions, and can be used for designing multi-freedom-degree control handles, grippers at the tail ends of robots and the like.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a schematic of the web hardware of the present invention;
FIG. 3 is a schematic diagram of data collection and transmission according to a preferred embodiment of the present invention;
FIG. 4 is a graph of sensor signals for eight channels in accordance with a preferred embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, the multi-channel tactile sensor based on the track point comprises a track point, a connection motherboard and an external wireless transceiver module, wherein the track point is connected with the motherboard through an FPC card socket, the external wireless module and the motherboard onboard wireless module can transmit data, and the external wireless module can be inserted into a USB port of a personal computer so as to enable an upper computer to process and analyze the data. The multi-channel touch sensor creatively uses the existing device of the track point to realize the multi-channel touch sensor, can be further applied to the fields of industrial robots, artificial intelligence and the like, and has the advantages of low cost, strong expandability, strong reliability and diversified functions.
As shown in fig. 2, the connection motherboard specifically adopts a main control chip with model number of Atmega32u4, a multiplexer with model number of SN74CBT3251, a voltage stabilization chip with model number of SPX1117 series, an eight-pin FPC card socket with a one-millimeter pitch, a USB Mini B female head, a button and a plurality of resistance-capacitance components; PF0, PF1, PF4 and PF5 of the main control chip are respectively connected with OE, S0, S1 and S2 of a multiplexer SN74CBT3251, PD5 and PD2 of the main control chip are respectively connected with output pins A of the two multiplexers SN74CBT3251, pins B1-B8 of the multiplexer SN74CBT3251 labeled DATA _ SELECT in the figure are respectively connected with Dat pins of 8 FPC card seats, and pins B1-B8 of the multiplexer SN74CBT3251 labeled CLOCK _ SEL in the figure are respectively connected with Clk pins of the 8 FPC card seats; in the figure, the mBtn, rBtn and lBtn pins of 8 FPCs are suspended, the Rst, Dat and Clk pins are connected with corresponding resistance-capacitance elements according to impedance requirements, and the Clk pins of the 8 FPCs are respectively connected with PC7, PC6, PB6, PB5, PB4, PD7, PD6 and PD4 of a main control chip; in the figure, the input ends of two voltage stabilizing chips SPX1117 are connected with a 7.4V power supply, the 3.3V output ends of the voltage stabilizing chips supply power to a wireless module, and the 5V output ends of the voltage stabilizing chips supply power to the whole system; in the figure, each pin of the wireless module connector is connected with a corresponding pin of the SPI interface of the main control chip, and in addition, an interrupt request pin of the wireless module connector is connected with the PD0 of the main control chip. The main control chip realizes PS/2 communication protocol with the pointing stick through own USART interface.
FIG. 3 shows a communication control process between the track point and the connection mother board, wherein first, the main control chip opens a track point channel by controlling the multiplexer, and enables serial communication by controlling the Clk signal of the channel; after opening a channel, the master chip sets a time buffer to wait for the track point to send data.
If the data is not received in the buffering time, the communication of the channel is forbidden, the relevant variable is assigned, and finally the channel is closed;
otherwise, the main control chip delays for a period of time and then forbids the communication of the channel, and in order to ensure that the output transmission frequency is fixed, the main control chip also delays for a period of time;
then the main control chip judges whether the number of bytes in the data buffer is three or not, if so, the three bytes are respectively assigned to corresponding variables and the channel is closed, otherwise, the relevant variables are assigned to zero, the buffer is emptied, and then the channel is closed;
then copying the related variable to a corresponding position of a vector which is defined in advance; the above process is repeated until the data of all channels are processed, and then the vector mentioned earlier is sent to the upper computer through the wireless module for subsequent processing.
FIG. 4 shows the output information for 8 track points during which we apply a force to each track point in the order of Y positive, X positive, Y negative, and X negative, often about fifteen seconds; the signal in the figure can well show the process; therefore, the multi-channel touch sensor based on the track point can be widely applied by reasonably arranging the track point and comprehensively processing the output signals.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. A method for controlling a track point-based multi-channel touch sensor, the sensor comprising a track point, a connection motherboard and an external wireless transceiver, the track point being electrically connected to the connection motherboard, the connection motherboard being communicatively connected to the external wireless transceiver, the method comprising the steps of:
step S1: the main control chip opens a channel of the pointing stick by controlling the multiplexer and carries out serial communication by controlling the Clk signal of the channel;
step S2: after one channel is opened, the main control chip sets a buffer time to wait for the track point to send data;
step S3: detecting whether data are received or not in the buffering time, if the data are not received, executing the step S31, otherwise, executing the step S32;
step S31: forbidding the communication of the channel, assigning the coordinate of the pointing stick as 0, and finally closing the channel;
step S32: the main control chip delays for a preset time and then forbids the communication of the channel, and simultaneously, in order to ensure that the output sending frequency is fixed, the main control chip delays for another preset time;
step S4: the main control chip judges whether the number of bytes in the data buffer is three, if yes, the step S41 is executed, otherwise, the step S42 is executed;
step S41: assigning the three bytes to corresponding variables respectively and closing the channel;
step S42: assigning the relevant variable to zero and emptying a buffer, then closing the channel, and copying the relevant variable to a corresponding position of a predefined vector;
step S5: and repeating the processes of the steps S1-S4 until the data of all channels are processed, and then sending the vector mentioned earlier to the upper computer through the wireless module for subsequent processing.
2. The method of controlling a track point-based multi-channel tactile sensor of claim 1, wherein the number of track points is 8 and the external wireless transceiver is an nRF24L01+ wireless module.
3. The method for controlling a track point-based multi-channel tactile sensor according to claim 1, wherein the track point and the connection motherboard are connected through an 8-pin FPC card socket with a 1 mm pitch, and the nRF24L01+ wireless module and the connection motherboard on-board wireless transceiver communicate in a 2.4GHz wireless communication manner, and the nRF24L01+ wireless module can be inserted into a personal computer for data transmission.
4. The method of controlling a track point-based multi-channel tactile sensor of claim 1, wherein the connection motherboard comprises a master control chip, two multiplexers, two voltage stabilization chips, a plurality of FPC holders and an on-board wireless transceiver, a USB MiniB type female head, and a resistive-capacitive element.
5. The method for controlling a multi-channel tactile sensor based on a pointing stick according to claim 4, wherein 4I/O ports of the main control chip are respectively connected to chip select pins OE and channel select pins S0-S2 of two multi-channel selectors, and the other 2I/O ports of the main control chip are respectively connected to output pins of the multi-channel selectors; the input pins of the multiplexer are respectively connected with the clock pin and the data pin of the FPC card seat, the definition of each pin of the FPC is the same as that of the pin of the pointing stick, and the clock pin of the FPC is also connected with the I/O port of the main control chip.
6. The method for controlling a multi-channel track point-based tactile sensor according to claim 4, wherein the main control chip is connected to the wireless transceiver module through its own SPI interface, and further the main control chip is assigned an external internal break to be connected to an interrupt pin of the wireless module.
7. The method of controlling a track point-based multi-channel tactile sensor of claim 4, wherein corresponding pins of the main control chip are connected with corresponding pins of a USB Mini B-type female header.
8. The method of claim 4, wherein the connection mother board includes an Atmega32u4 master chip, a model SN74CBT3251 multiplexer, a model SPX1117 ballast chip, eight-pin FPC card holders with a one-mm pitch, a USB Mini B type female header, and a capacitance blocking device, wherein PF0, PF1, PF4, and PF5 of the master chip are connected to OE, S0, S1, and S2 of the multiplexer SN74CBT3251, respectively, PD5 and PD2 of the master chip are connected to output pins of two multiplexers SN74CBT3251, respectively, B1-B8 pins of a first multiplexer SN74CBT3251 are connected to Dat pins of 8 FPC cards, respectively, B1-B8 pins of a second multiplexer SN74CBT3251 are connected to Clk 3256 pins of 8 FPC card holders,
the pins of mBtn, rBtn and lBtn of the 8 FPCs are suspended, the pins of Rst, Dat and Clk are connected with corresponding resistance-capacitance elements according to impedance requirements, and the pins of the 8 FPCs are respectively connected with PC7, PC6, PB6, PB5, PB4, PD7, PD6 and PD4 of the main control chip; the input termination 7.4V power of two SPX1117 voltage stabilizing chip, wireless module power supply is given to voltage stabilizing chip 3.3V's output, whole system power supply is given to voltage stabilizing chip's 5V output, each pin of board-mounted wireless transceiver's connector is connected with the corresponding pin of main control chip SPI interface, the interrupt request pin of board-mounted wireless transceiver's connector and main control chip's PD0 link to each other.
9. A robot implementing the method of controlling a track point-based multi-channel tactile sensor of any of claims 1-8.
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| JP2012122823A (en) * | 2010-12-08 | 2012-06-28 | Seiko Epson Corp | Detecting device, electronic equipment, and robot |
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| CN105992992A (en) * | 2014-02-13 | 2016-10-05 | 微软技术许可有限责任公司 | Low-profile pointing stick |
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