CN108548740B - Hardness recognition device based on magnetic difference detection - Google Patents
Hardness recognition device based on magnetic difference detection Download PDFInfo
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Abstract
The invention discloses a hardness recognition device based on magnetic difference detection. The invention utilizes the deformation of the elastic body under the interaction of the elastic body and the object to be detected to drive the embedded ferromagnetic object to move, disturbs the background magnetic field and generates magnetic difference signals, the magnetic sensor element detects the magnetic difference signals, and the hardness detection of the object to be detected is realized through the processing and analysis of the magnetic difference signals. When a constant force is applied externally, if the hardness of the object to be measured is high, the change of the displacement of the ferromagnetic probe with time is fast, and if the hardness of the object to be measured is low, the change of the displacement of the probe with time is slow. The change speed of the displacement of the ferromagnetic probe is reflected by the magnetic difference signal detected by the magnetic sensing element, and the hardness grade of the object to be detected can be reflected by measuring the slope of the magnetic difference signal. The invention has the characteristics of high response speed, high sensitivity, low cost and the like, and can be applied to the fields of intelligent gripping of robots, material sorting and the like.
Description
Technical Field
The invention belongs to the field of tactile perception of hardness identification of an object to be detected, and particularly relates to a device for identifying the hardness of the object to be detected by detecting the change condition of a magnetic difference signal along with time based on a magnetic difference detection principle.
Background
The touch sense is one of the important ways for most of the living beings in nature to acquire information from the external environment, and compared with the sense of hearing and vision, the touch sense can enable the robot to sense more physical characteristics of objects, such as surface contour, softness and hardness, temperature and humidity and the like. In recent years, as the related technology of the intelligent robot is continuously matured, the application fields of the intelligent robot are more and more, when the robot is used for replacing a plurality of working positions of human beings, the robot must have the sensing capability of the human beings, particularly in an unstructured environment, the robot needs to acquire three-dimensional information in a space through touch sensing and the contact state of a manipulator and an operated object, so that the characteristics of the operated object, such as the contour, the size, the hardness and the like, can be obtained, the identification and the subsequent operation are convenient, and therefore, the touch sensing technology is one of the main research directions of the intelligent robot. Hardness is one of important physical attributes of an object, and the robot needs touch sensing to realize compliance force control on the grabbing of the object so as to meet the requirements of the application fields of intelligent robots such as agricultural picking and artificial hands.
Patent CN106032980A describes a tactile sensor based on a friction generator, which utilizes the pressure electric signal output by friction when the friction generator is in contact with the object to be tested to determine the hardness of the object, and includes: the bionic tentacle is arranged on the surface of the friction generator and used for generating deformation under the condition of sensing a target to be detected and transmitting the deformation to the friction generator; and the friction generator is used for outputting an electric signal based on the deformation transmitted by the bionic tentacles. Patent CN106484201A describes a capacitive touch sensor, in which the external contact pressure causes the change of the medium concentration in the capacitor, and the touch sensing is realized by detecting the electric signal. Patent CN106482874A describes a three-dimensional force flexible tactile sensor array based on piezoresistive effect, and the tactile sensing units are regular tetrahedrons made of flexible conductive rubber with piezoresistive effect, so as to reduce the coupling degree of sensor resistance data, and improve decoupling accuracy and response speed.
The magnetic anomaly detection utilizes the magnetic anomaly phenomenon when an external ferromagnetic probe disturbs a stable background magnetic field, detects magnetic anomaly signals through a magnetic sensor, and has been successfully applied to the aspects of intelligent traffic, geomagnetic navigation guidance and the like. The magnetic detection technology is the key for realizing the magnetic difference detection principle. The magnetic detection technique includes a magnetic force method, an electromagnetic induction method, an electromagnetic effect method, a magnetic resonance method, a superconducting effect method, a fluxgate method, a magneto-optical effect method, a magnetoresistance effect method, and the like. With the development of nano soft magnetic materials and ultrathin film preparation technology, especially Baibich found giant magnetoresistance effect in Fe/Cr multilayer films in 1988, the performance of magnetoresistive sensing elements was continuously improved by new technology, Fe/Cu, Fe/Ag, Fe/Al, Fe/Au, Co/Cu, Co/Ag, Co/Au, etc., interlayer coupling multilayer films with significant GMR effect, ferromagnetic layer/isolation layer/antiferromagnetic layer spin valves (PV), tunnel junction magnetoresistance (TMR). The TMR magnetic tunnel valve structure has the advantages of very high saturation magnetic field, extremely high magneto-resistance sensitivity, very high resistivity, low magnetic hysteresis, low energy consumption and good temperature characteristic.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a hardness identification device based on magnetic difference detection.
The invention adopts a technical scheme that:
The hardness recognition device based on magnetic difference detection comprises a permanent magnet, a magnetic sensing element, a signal conditioning circuit, a microprocessor, an elastic body, a ferromagnetic probe, an external constant force applying unit and a fixing frame. A ferromagnetic probe is embedded in the elastomer; a magnetic sensing element, an elastic body embedded with a ferromagnetic probe, an object to be detected and an external constant force applying unit are sequentially arranged above the permanent magnet from bottom to top; the elastic body is connected with the fixing frame, the magnetic sensing element is connected with the signal conditioning circuit, and the signal conditioning circuit is connected with the microprocessor; the permanent magnet provides stable static background magnetic field, outside constant force application unit is used on the object to be measured, the object to be measured atress contacts with the elastomer, and transmit power to the elastomer, the elastomer takes place to deform after receiving the reaction force of mount, drive the ferromagnetism probe and remove, the static background magnetic field that the permanent magnet provided is disturbed to the ferromagnetism probe that removes, lead to the magnetic anomaly signal, magnetic sensing element response magnetic anomaly signal, and convert the signal transmission to signal conditioning circuit, the signal is inputed microprocessor after signal conditioning circuit conditions, microprocessor carries out analysis and processing to the signal, output the hardness grade of the object to be measured.
The other technical scheme of the invention is as follows:
The hardness recognition device based on magnetic difference detection comprises a permanent magnet, a magnetic sensing element, a signal conditioning circuit, a microprocessor, an elastic body, a ferromagnetic probe, an external constant force applying unit and a fixing frame. A ferromagnetic probe is embedded in the elastomer; the external constant force applying unit acts on the fixed frame, the fixed frame is connected with the elastic body, and the permanent magnet and the magnetic sensing element are arranged in the fixed frame; a magnetic sensing element, an elastic body embedded with a ferromagnetic probe and an object to be detected are sequentially arranged below the permanent magnet from top to bottom; the magnetic sensing element is connected with the signal conditioning circuit, and the signal conditioning circuit is connected with the microprocessor; the permanent magnet provides stable static background magnetic field, the external force application unit acts on the fixing frame, the fixing frame transmits force to the elastic body, when the elastic body contacts with an object to be detected, the elastic body deforms to drive the ferromagnetic probe to move, the moving ferromagnetic probe disturbs the static background magnetic field provided by the permanent magnet to cause a magnetic difference signal, the magnetic sensing element senses the magnetic difference signal and converts the magnetic difference signal into an electric signal to be transmitted to the signal conditioning circuit, the signal is conditioned by the signal conditioning circuit and then input into the microprocessor, and the microprocessor analyzes and processes the signal and outputs the hardness grade of the object to be detected.
The invention can identify the hardness of the object to be detected, has the characteristics of high response speed, high sensitivity, low cost and the like, and can be applied to the fields of intelligent gripping of robots, material sorting and the like.
Drawings
FIG. 1 is a schematic structural view of example 1.
FIG. 2 is a schematic structural view of example 2.
FIG. 3 is a comparison of magnetic difference signals collected from the test object made by testing three hardness materials in example 1.
Detailed Description
The hardness recognition device based on magnetic difference detection of the invention has different embodiments according to different applied force objects, and two typical and preferred embodiments are described in detail below with reference to the accompanying drawings
Example 1:
As shown in fig. 1, the hardness recognition apparatus based on magnetic anomaly detection includes a permanent magnet 1, a magnetic sensing element 2, a signal conditioning circuit 3, a microprocessor 4, an elastic body 5, a ferromagnetic probe 6, an external constant force applying unit 7, and a fixing frame 9. The ferromagnetic probe is embedded in the elastomer. And a magnetic sensing element, an elastic body embedded with a ferromagnetic probe, an object to be detected 8 and an external constant force applying unit are sequentially arranged above the permanent magnet from bottom to top. The elastic body is connected with the fixing frame, the magnetic sensing element is connected with the signal conditioning circuit, and the signal conditioning circuit is connected with the microprocessor. The permanent magnet provides stable static background magnetic field, outside constant force application unit is used on the object to be measured, the object to be measured atress contacts with the elastomer, and transmit power for the elastomer, the elastomer takes place to deform after receiving the reaction force of mount, drive the ferromagnetism probe and remove, the static background magnetic field that the permanent magnet provided is disturbed to the ferromagnetism probe that removes, lead to the magnetic anomaly signal, magnetic sensing element response magnetic anomaly signal, and convert the signal transmission to the signal conditioning circuit, the signal is inputed microprocessor after the signal conditioning circuit is tempered, microprocessor carries out analysis and processing to the signal, output the hardness grade of the object to be measured.
The hardness of TPE materials is typically measured using a Shore durometer, either Shore a or Shore D. Typically measured using a shore a durometer. The hardness ranges from Shore A0-120, also called 0 degree to 120 degree, and the higher the value is, the higher the hardness is. TPE materials with different hardness are adopted to make objects to be tested, and the objects to be tested with different hardness are tested. In the experiment, TPE materials of 0 degree, 20 degrees and 30 degrees are selected and sintered into a measured object. The same force is applied to the objects to be measured with different hardness, and the data of U and T is obtained by the signal of the output voltage of the magnetic difference signal changing along with the time, and the specific result is shown in FIG. 3. The objects to be detected with different hardness have different slopes, and hardness identification of the objects to be detected can be realized.
Example 2:
As shown in fig. 2, the hardness recognition apparatus based on magnetic anomaly detection includes a permanent magnet 1, a magnetic sensing element 2, a signal conditioning circuit 3, a microprocessor 4, an elastic body 5, a ferromagnetic probe 6, an external constant force applying unit 7, and a fixing frame 9. The ferromagnetic probe is embedded in the elastomer. The external constant force applying unit acts on the fixing frame, the fixing frame is connected with the elastic body, and the permanent magnet and the magnetic sensing element are placed in the fixing frame. And a magnetic sensing element, an elastic body embedded with a ferromagnetic probe and an object to be measured 8 are sequentially arranged below the permanent magnet from top to bottom. The magnetic sensing element is connected with the signal conditioning circuit, and the signal conditioning circuit is connected with the microprocessor. The permanent magnet provides stable static background magnetic field, the external force application unit acts on the fixing frame, the fixing frame transmits force to the elastic body, when the elastic body contacts with an object to be detected, the elastic body deforms to drive the ferromagnetic probe to move, the moving ferromagnetic probe disturbs the static background magnetic field provided by the permanent magnet to cause a magnetic difference signal, the magnetic sensing element senses the magnetic difference signal and converts the magnetic difference signal into an electric signal to be transmitted to the signal conditioning circuit, the signal is conditioned by the signal conditioning circuit and then input into the microprocessor, and the microprocessor analyzes and processes the signal and outputs the hardness grade of the object to be detected.
In the two embodiments:
The permanent magnet is a concave row permanent magnet or a rectangular permanent magnet which can provide a stable background magnetic field. The magnetic sensing element is a sensitive element capable of converting magnetic field intensity into electric signals and comprises a Hall effect element, a magneto-resistance effect element and the like, wherein the magneto-resistance effect element is an anisotropic magneto-resistance AMR or giant magneto-resistance effect element GMR, a tunneling magneto-resistance effect element TMR and the like. The magnetic sensor element may be an element that measures the spatial gradient of a magnetic field.
The elastomer is cylindrical or arched or hemispherical, and a ferromagnetic probe is embedded inside the elastomer, generally at a position far away from the magnetic sensor element.
The ferromagnetic probe is spherical or needle-shaped.
Microprocessing every fixed period TThe magnetic difference signals conditioned by the signal conditioning circuit (3) are collected and stored in an internal memory after analog-to-digital conversion, and the values of the magnetic difference signals and the sampling time are subjected to linear fitting S=kt+bAnd outputting the slope corresponding to the hardness grade of the object to be detected.
In summary, the invention utilizes the deformation of the elastic body under the interaction between the elastic body and the object to be detected to drive the embedded ferromagnetic object to move, perturbs the background magnetic field to generate a magnetic difference signal, the magnetic sensor element detects the magnetic difference signal, and the hardness detection of the object to be detected is realized through the processing and analysis of the magnetic difference signal. When a constant force F is externally applied, if the hardness of the object to be measured is high, the change of the displacement amount of the ferromagnetic probe with time is fast, and if the hardness of the object to be measured is low, the change of the displacement amount of the probe with time is slow. The change speed of the displacement of the ferromagnetic probe is reflected by the magnetic difference signal detected by the magnetic sensing element, and the hardness grade of the object to be detected can be reflected by measuring the slope of the magnetic difference signal.
Claims (8)
1. Hardness recognition device based on magnetic anomaly detects, including permanent magnet (1), magnetic sensing element (2), signal conditioning circuit (3), microprocessor (4), elastomer (5), ferromagnetic probe (6), unit (7) and mount (9) are applyed to outside constant force, its characterized in that:
A ferromagnetic probe (6) is embedded in the elastomer (5); a magnetic sensing element (2), an elastic body (5) embedded with a ferromagnetic probe (6), an object to be detected (8) and an external constant force applying unit (7) are sequentially arranged above the permanent magnet (1) from bottom to top; the elastic body (5) is connected with the fixed frame (9), the magnetic sensing element (2) is connected with the signal conditioning circuit (3), and the signal conditioning circuit (3) is connected with the microprocessor (4); the permanent magnet (1) provides stable static background magnetic field, outside constant force is applyed unit (7) and is acted on object (8) to be measured, object (8) atress that awaits measuring contacts with elastomer (5), and transmit power for elastomer (5), elastomer (5) take place deformation after receiving the reaction force of mount (9), drive ferromagnetic probe (6) removal, the static background magnetic field that permanent magnet (1) provided is disturbed in ferromagnetic probe (6) that remove, lead to the magnetic anomaly signal, magnetic sensing element (2) response magnetic anomaly signal, and convert the signal transmission to signal conditioning circuit (3), the signal inputs microprocessor (4) after signal conditioning circuit (3) are reconciled, microprocessor (4) carry out analysis and processing to the signal, the hardness level of output object (8) to be measured.
2. Hardness recognition device based on magnetic anomaly detects, including permanent magnet (1), magnetic sensing element (2), signal conditioning circuit (3), microprocessor (4), elastomer (5), ferromagnetic probe (6), unit (7) and mount (9) are applyed to outside constant force, its characterized in that:
A ferromagnetic probe (6) is embedded in the elastomer (5); the external constant force applying unit (7) acts on the fixed frame (9), the fixed frame (9) is connected with the elastic body (5), and the permanent magnet (1) and the magnetic sensing element (2) are arranged in the fixed frame (9); a magnetic sensing element (2), an elastic body (5) embedded with a ferromagnetic probe (6) and an object to be detected (8) are sequentially arranged below the permanent magnet (1) from top to bottom; the magnetic sensing element (2) is connected with the signal conditioning circuit (3), and the signal conditioning circuit (3) is connected with the microprocessor (4); permanent magnet (1) provides stable static background magnetic field, external force application unit (7) act on mount (9), mount (9) transmit power for elastomer (5), when elastomer (5) and object (8) contact that awaits measuring, elastomer (5) take place deformation, drive ferromagnetic probe (6) removal, the static background magnetic field that permanent magnet (1) provided is disturbed in ferromagnetic probe (6) that remove, lead to the magnetic anomaly signal, magnetic anomaly signal is responded to in magnetic sensing element (2), and convert the signal transmission to signal conditioning circuit (3), the signal inputs microprocessor (4) after signal conditioning circuit (3) are taked care, microprocessor (4) carry out analysis and processing to the signal, the hardness level of output object (8) that awaits measuring.
3. The magnetic difference detection-based hardness identifying device according to claim 1 or 2: the method is characterized in that: the permanent magnet (1) is a concave permanent magnet or a rectangular permanent magnet which can provide a stable background magnetic field.
4. The magnetic difference detection-based hardness identifying device according to claim 1 or 2: the method is characterized in that: the magnetic sensing element (2) is a sensitive element capable of converting magnetic field intensity into an electric signal, and comprises a Hall effect element and a magneto-resistance effect element, wherein the magneto-resistance effect element is an anisotropic magneto-resistance AMR, a giant magneto-resistance effect element GMR or a tunneling magneto-resistance effect element TMR.
5. The magnetic difference detection-based hardness identifying device according to claim 1 or 2: the method is characterized in that: the elastic body (5) is cylindrical, arched or hemispherical, and a ferromagnetic probe (6) is embedded in the elastic body (5) at a position far away from the magnetic sensing element (2).
6. The magnetic difference detection-based hardness identifying device according to claim 1 or 2: the method is characterized in that: the ferromagnetic probe (6) is spherical or needle-shaped.
7. The magnetic difference detection-based hardness identifying device according to claim 1 or 2: the method is characterized in that: the fixing frame (9) is made of rigid materials.
8. The magnetic difference detection-based hardness identifying device according to claim 1 or 2: the method is characterized in that: the micro-processing (4) is carried out at fixed intervals TThe magnetic difference signal conditioned by the signal conditioning circuit (3) is collected and stored in an internal memory after analog-to-digital conversion, and the magnetic difference signal is subjected to magnetic difference signal processing Linear fitting of number value and sampling time S=kt+bSlope of output kI.e. the hardness level corresponding to the object to be measured.
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