CN108908329A - A kind of flexible skin sensor and collision detecting system - Google Patents
A kind of flexible skin sensor and collision detecting system Download PDFInfo
- Publication number
- CN108908329A CN108908329A CN201810592007.5A CN201810592007A CN108908329A CN 108908329 A CN108908329 A CN 108908329A CN 201810592007 A CN201810592007 A CN 201810592007A CN 108908329 A CN108908329 A CN 108908329A
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- skin sensor
- conductive
- flexible skin
- robot
- collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
A kind of flexible skin sensor and collision detecting system.The flexible skin sensor includes：Two conductive layers that flexible conducting material is constituted, are dielectrically separated from net between two conductive layers；The contact when being squeezed by external force of described two conductive layers, realization conduct, and make the signal transfering circuit conducting of connection, export collision alarm.It being able to detect and collides and play buffer function, structure is simple, reliable, and use is safe, and it is low in cost, it is convenient for safeguarding.
Description
Technical field
The present invention relates to Collision Detection field, in particular to a kind of flexible skin sensor and collision detecting system.
Background technique
With the development of robot technology, with " the robot application field of artificial " center " is more and more, for example, medical treatment,
The fields such as service robot just more and more begin to use robot, and during using robot, the safety of people is anti-
Shield becomes focus of attention.
A kind of conventional means of security protection is to be divided into the investigative range of laser scanner using laser safety scanner
The degree of danger of machine Human To Human is distinguished in different regions, when people enters danger zone, reduces the speed or straight of robot
Connect the movement for stopping robot.This method higher cost.
Another means of security protection are to acquire position of human body information by visual sensor, and judge people and robot
Relative position, and adjust robot motion track, the remaining time is divided into short-term, mid-term, Long-term planning before occurring according to collision
Strategy, in short term using response strategy, that is, robot far from potential collision；Mid-term is planned and track correct strategy again using part
Change the movement of robot and attempts to avoid danger；Any collision is avoided using trajectory planning strategy for a long time.
But the factors such as the generation and vision dead zone, light intensity due to the uncertainty of people's behavior with fortuitous event
It influences, absolutely collision avoids not can guarantee.
In recent years, safe skin is a kind of new technology for collision protection during man-computer combination.Someone develops
The sensitive skin based on array infrared sensor is, it can be achieved that non-contact anti-collision warning out.Somebody in contact-impact perceptible aspect,
Have developed the sensitive skin based on array electronic sensor, it can be achieved that partial 3 d power perception.In addition, there are also be based on array pressure
The sensitive skin of sensor is hindered, using pressure-sensitive conductive rubber, flexibility degree is higher.
These robot flexibility anticollision skins are all made of the microsensor of array, since manufacturing process is complicated, at
Ripe product is few.And existing robot flexibility anticollision skin manufacture complexity, higher cost, the sensitive skin sensing of array
Device adapts to curved surface robot body difficulty, and service life is short, and sensor wiring is more.Therefore poor universality, is also not easy to safeguard, ties up
It is also relatively high to protect cost.
Summary of the invention
In view of the above problems, the present invention provides a kind of one for overcoming the above problem or at least being partially solved the above problem
Kind flexible skin sensor and collision detecting system.
A kind of flexible skin sensor of the present invention, including：Two conductive layers that flexible conducting material is constituted, are located at
Net is dielectrically separated between two conductive layers；
The contact when being squeezed by external force of described two conductive layers, realization conduct, and make the signal transfering circuit conducting of connection, defeated
Collision alarm out.
In some alternative embodiments, above-mentioned flexible skin sensor further includes：The signal being connect with the conductive layer
Transfer circuit；
When described two conductive layer realizations conduct, the signal transfering circuit conducting exports collision alarm.
In some alternative embodiments, the flexible conducting material is one of llowing group of materials：Conductive rubber, conduction
Silica gel, conductive silicon rubber, conductive plastics, conductive fibers, conductive coating or transparent conductive film.
In some alternative embodiments, the conductive rubber is that at least one conductive is evenly distributed in silicon rubber
Grain：Glass silvering, aluminium are silver-plated or silver-colored.
In some alternative embodiments, the net that is dielectrically separated from is using at least one of llowing group of materials：By insulation
Mica after resin-bonding or dipping, coating, glass fiber, asbestos, non-conductive fibre, rubber or plastics.
In some alternative embodiments, the conductive layer with a thickness of 0.3-1mm.
In some alternative embodiments, the distance between described two conductive layers are 3-8mm.
In some alternative embodiments, above-mentioned flexible skin sensor further includes：On the inside of at least one described conductive layer
Surface has stud.
In some alternative embodiments, the length of the stud is 0.1-2mm.
A kind of collision detecting system of the present invention, including：Flexible skin sensor, robot and robot control
Device.
The flexible skin sensor is attached at the selected location of robotic surface, passes through signal transfering circuit and machine
The connection of people's controller exports collision alarm to robot controller when detecting that collision occurs；
Robot controller controls robot emergent stopping or counter motion according to the collision alarm received.
The beneficial effect of above-mentioned technical proposal provided in an embodiment of the present invention includes at least：
Setting is dielectrically separated from net between two conductive layers that flexible conducting material is constituted, and when being squeezed by external force, two are led
Electric layer contact, realization conduct, and make the signal transfering circuit conducting of connection, export collision alarm, this flexible skin sensor
Structure is simple, reliable, can play buffer function conveniently with the generation for detecting collision in robot and when colliding and occurring,
This flexible skin sensor is low in cost using safe, convenient for safeguarding, has very strong versatility and general applicability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of flexible skin sensor in the embodiment of the present invention.
Fig. 2 is the sectional view of flexible skin sensor shown in FIG. 1 in the embodiment of the present invention.
Fig. 3 is a kind of optional structure diagram of flexible skin sensor in the embodiment of the present invention.
Fig. 4 is status diagram when flexible skin sensor does not collide in the embodiment of the present invention.
Fig. 5 is status diagram when flexible skin sensor collides in the embodiment of the present invention.
Fig. 6 is the structural schematic diagram of collision detecting system in the embodiment of the present invention.
In figure, 1 is conductive layer, and 2 is are dielectrically separated from net, and 3 be stud, and 4 be signal transfering circuit.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
In practical applications, robot body is not in contact usually with human body/external environment, needs to stop once contact
Only robot motion, therefore for anticollision skin, actually only need it to be able to detect the presence or absence of collision, without being collided
Position and impact force size.Based on this, in order to solve the array-type sensor existing in the prior art for collision detection
The problems such as complex manufacturing technology, at high cost, the service life is short, poor universality, is not easy to maintenance, the embodiment of the present invention provides one kind and is used for
The flexible skin sensor of collision detection can effectively detect the collision occurred during man-computer combination, and structure letter
It is single, easy to make, at low cost, it is versatile.
Flexible skin sensor provided in an embodiment of the present invention, structure is as shown in Figure 1, the A-A that wherein Fig. 2 is Fig. 1 is cut
Face figure, including：
Two conductive layers 1 that flexible conducting material is constituted, are dielectrically separated from net 2, two conductive layers between two conductive layers 1
1 contact when being squeezed by external force, realization conduct, and make the signal transfering circuit conducting of connection, export collision alarm.
Optionally, as shown in figure 3, above-mentioned flexible skin sensor further includes：The signal transfering circuit being connect with conductive layer 1
4, when two realizations of conductive layer 1 conduct, signal transfering circuit 4 is connected, and exports collision alarm.
Signal transfering circuit 4 can be connected with a conductive layer 1 wherein, can also two conductive layers 1 be respectively connected with letter
Number transfer circuit 4, in practical applications, as needed using the signal transfering circuit 4 connected on wherein some conductive layer 1.One
When a 1 connection signal transfer circuit 4 of conductive layer, the external given voltage of signal transfering circuit, such as+5V voltage, another can be with
Conductive layer 1 is grounded.
Optionally, referring to Figures 1 and 2, above-mentioned flexible skin sensor, at least one 1 inner surface of conductive layer is with convex
Nail 3.
The above-mentioned flexible skin sensor for collision detection uses sandwich structure, which includes
Upper and lower conductive layer 1 is dielectrically separated from net 2 and signal transmitting route 4 etc., stud 3 is had on conductive layer, upper and lower conductive layers 1 are with convex
The effect of nail 3 is to prevent separation net resistance excessive, hinders upper and lower conductive layers 1 to be in contact when causing to have collision to occur, signal transmitting
Circuit 4 is connected with up or down conductive layer 1, another conductive layer ground connection.
The collision detection flexible skin sensor presss from both sides the sandwich structure of separation net using conductive layer, when not colliding
State as shown in figure 4, the state after colliding is as shown in Figure 5.When no external force squeezes, two conductive layers are in isolation
State, as shown in figure 4, two conductive layers are completely separable, it is contactless；When being squeezed by external contact, two sides conductive layer passes through
The cavity of separation net is in contact, as shown in figure 5, the conductive layer by downthrust side is recessed, is connect with the conductive layer of the other side
Touching, result in formation of the switching values for being connected with disconnecting in circuit, can be used for contacting the emergent stopping of occurrence time device people or make machine
Device people's counter motion.
2 resistance of separation net is excessive in order to prevent, hinders upper and lower conductive layers 1 to be in contact when causing to have collision to occur, therefore is leading
Stud 3 is made in electric layer 1, to improve sensor to the reliability and sensitivity of collision detection.The flexible skin sensor
Have the advantages that structure it is simple, it is reliable, convenient for safeguarding, using it is safe, low in cost and have certain crusherbull zone effect,
Solves a great problem in terms of man-robot collision detection.
Optionally, flexible conducting material is one of llowing group of materials：Conductive rubber, conductive silicon rubber, is led at electric silica gel
Electric plastics, conductive fibers, conductive coating and transparent conductive film.
Wherein, conductive rubber is that at least one conductive particle is evenly distributed in silicon rubber：Glass silvering, aluminium is silver-plated,
Silver.By glass silvering, aluminium is silver-plated, the conductive particles such as silver-colored are evenly distributed in silicon rubber, contacts conductive particle by pressure, reaches
To good electric conductivity.
Optionally, conductive layer 1 with a thickness of 0.3-1mm.Preferably, conductive layer 1 with a thickness of 0.4-0.8mm, such as can
To select the thickness of 0.5mm.
Optionally, the distance between two conductive layers 1 are 3-8mm.Preferably, the distance between two conductive layers 1 are 4-
6mm。
The distance between two conductive layers 1 can be defined as the distance between two conductive layer inner surfaces, can also define
For the distance between two conductive layer outer surfaces.Such as：In production, the distance between two 1 inner surfaces of conductive layer are 4mm,
The distance between two 1 outer surfaces of conductive layer are 5mm.
Optionally, net 2 is dielectrically separated from using at least one of llowing group of materials：It bonds or impregnates by insulating resin, apply
Mica, glass fiber, asbestos after applying, non-conductive fibre, rubber and plastics.Mica, glass fiber, asbestos by insulating resin bond or
There can be the effect of insulation after dipping, coating, non-conductive fibre, rubber and plastics also can play the role of insulation.
Optionally, the length of stud is 0.1-2mm, and the diameter of stud is 0.1-2mm.Preferably, the length of stud is
0.5-1.5mm, the diameter of stud are 0.5-1.5mm, such as：The Design of length of stud is 1mm, diameter 1mm.
Optionally, it is various to can be designed as rectangle, square, circle, ellipse, polygon etc. for flexible skin sensor
Shape, size, which can according to need, designs different size, such as can be according to the size of robot, and the position of stickup is selected
With different size of flexible skin sensor.Such as：By taking rectangle as an example, whole size can be 150mm*300mm, can also
To be designed to 150mm*200mm or any other size.
Based on the same inventive concept, the embodiment of the present invention also provides a kind of collision detecting system, as shown in fig. 6, including：It is soft
Property skin sensor, robot（It is not shown in Fig. 6）And robot controller.
The flexible skin sensor is attached at the selected location of robotic surface, passes through signal transfering circuit and machine
The connection of people's controller exports collision alarm to robot controller when detecting that collision occurs；
Robot controller controls robot emergent stopping or counter motion according to the collision alarm received.
Optionally, robot controller is also used to the sticking position according to the flexible skin sensor for sending collision alarm,
Determine the position that robot collides.
A kind of simple and reliable flexible skin sensor for collision detection is provided about in above-described embodiment, it should
Flexible skin sensor, which is mounted in robot, forms collision detecting system, can effectively detect man-computer combination process
In collision.Contact of the i.e. above-mentioned flexible skin sensor without isolation when squeezing and when having extruding is in conjunction with signal transfering circuit
Get up, form the switching value for being connected and disconnecting in circuit, this signal is connected with robot controller, can control contact hair
The emergent stopping of Sheng Shi robot makes its counter motion.
In application process, above-mentioned flexible skin sensor can be affixed on robotic surface, due to using compliant conductive
Layer, therefore it is adapted to curved surface robot.Furthermore the conductive layer of flexible material has the function of certain crusherbull zone, further increases
Safety in man-robot collision detection process.The sensor due to its structure it is simple, it is reliable, convenient for safeguarding, use peace
Entirely, the advantages such as low in cost, have a good application prospect.
Above-mentioned flexible skin sensor, in simple structure, easily makes, and cheap cost meets practical application
In only need it to be able to detect the presence or absence of collision, without obtaining the position of collision and demand the problems such as impact force size.
Unless otherwise specific statement, term such as handle, calculate, operation, determination, display etc. can refer to it is one or more
A processing or the movement and/or process of computing system or similar devices, the movement and/or process will be indicated as processing system
It the data manipulation of the register of system or physics (such as electronics) amount in memory and is converted into and is similarly represented as processing system
Memory, register or other this type of information storage, transmitting or display equipment in other data of physical quantity.Information
Any one of a variety of different technology and methods can be used with signal to indicate.For example, in above description
Data, instruction, order, information, signal, bit, symbol and the chip referred to can use voltage, electric current, electromagnetic wave, magnetic field or grain
Son, light field or particle or any combination thereof indicate.
It should be understood that the particular order or level of the step of during disclosed are the examples of illustrative methods.Based on setting
Count preference, it should be appreciated that in the process the step of particular order or level can be in the feelings for the protection scope for not departing from the disclosure
It is rearranged under condition.Appended claim to a method is not illustratively sequentially to give the element of various steps, and not
It is to be limited to the particular order or level.
In above-mentioned detailed description, various features are combined together in single embodiment, to simplify the disclosure.No
This published method should be construed to reflect such intention, that is, the embodiment of theme claimed needs clear
The more features of the feature stated in each claim to Chu.On the contrary, that reflected such as appended claims
Sample, the present invention are in the state fewer than whole features of disclosed single embodiment.Therefore, appended claims is special
This is expressly incorporated into detailed description, and wherein each claim is used as alone the individual preferred embodiment of the present invention.
It should also be appreciated by one skilled in the art that various illustrative logical boxs, mould in conjunction with the embodiments herein description
Electronic hardware, computer software or combinations thereof may be implemented into block, circuit and algorithm steps.In order to clearly demonstrate hardware and
Interchangeability between software surrounds its function to various illustrative components, frame, module, circuit and step above and carries out
It is generally described.Hardware is implemented as this function and is also implemented as software, depends on specific application and to entire
The design constraint that system is applied.Those skilled in the art can be directed to each specific application, be realized in a manner of flexible
Described function, still, this realization decision should not be construed as a departure from the scope of protection of this disclosure.
The step of method in conjunction with described in the embodiments herein or algorithm, can be embodied directly in hardware, be held by processor
Capable software module or combinations thereof.Software module can be located at RAM memory, flash memory, ROM memory, eprom memory,
The storage of eeprom memory, register, hard disk, mobile disk, CD-ROM or any other form well known in the art is situated between
In matter.A kind of illustrative storage medium is connected to processor, thus enable a processor to from the read information, and
Information can be written to the storage medium.Certainly, storage medium is also possible to the component part of processor.Pocessor and storage media
It can be located in ASIC.The ASIC can be located in user terminal.Certainly, pocessor and storage media can also be used as discrete sets
Part is present in user terminal.
For software implementations, technology described in this application can be with the module of the herein described function of execution (for example, mistake
Journey, function etc.) it realizes.These software codes can store in memory cell and be executed by processor.Memory cell can
With realize in processor, also may be implemented outside the processor, in the latter case, it via various means by correspondence
It is coupled to processor, these are all well known in the art.
Description above includes the citing of one or more embodiments.Certainly, in order to describe above-described embodiment and description portion
The all possible combination of part or method is impossible, but it will be appreciated by one of ordinary skill in the art that each implementation
Example can do further combinations and permutations.Therefore, embodiment described herein is intended to cover fall into the appended claims
Protection scope in all such changes, modifications and variations.In addition, with regard to term used in specification or claims
The mode that covers of "comprising", the word is similar to term " includes ", just as " including " solved in the claims as transitional word
As releasing.In addition, the use of any one of specification in claims term "or" being to indicate " non-exclusionism
Or ".
Claims (10)
1. a kind of flexible skin sensor, which is characterized in that including：Two conductive layers that flexible conducting material is constituted are located at two
Net is dielectrically separated between a conductive layer；
The contact when being squeezed by external force of described two conductive layers, realization conduct, and make the signal transfering circuit conducting of connection, defeated
Collision alarm out.
2. flexible skin sensor as described in claim 1, which is characterized in that further include：The letter being connect with the conductive layer
Number transfer circuit；
When described two conductive layer realizations conduct, the signal transfering circuit conducting exports collision alarm.
3. flexible skin sensor as described in claim 1, which is characterized in that the flexible conducting material is in llowing group of materials
One kind：Conductive rubber, electric silica gel, conductive silicon rubber, conductive plastics, conductive fibers, conductive coating or electrically conducting transparent
Film.
4. flexible skin sensor as claimed in claim 3, which is characterized in that the conductive rubber is uniform in silicon rubber
At least one conductive particle is distributed with：Glass silvering, aluminium are silver-plated or silver-colored.
5. flexible skin sensor as claimed in claim 4, which is characterized in that the net that is dielectrically separated from is using in llowing group of materials
At least one：It bonds or impregnates by insulating resin, the mica after coating, glass fiber, asbestos, non-conductive fibre, the modeling of rubber function
Material.
6. flexible skin sensor as described in claim 1, which is characterized in that the conductive layer with a thickness of 0.3-1mm.
7. flexible skin sensor as described in claim 1, which is characterized in that the distance between described two conductive layers are 3-
8mm。
8. flexible skin sensor as claimed in claim 1, which is characterized in that further include：It is led described at least one
Electric layer inner surface has stud.
9. flexible skin sensor as claimed in claim 8, which is characterized in that the length of the stud is 0.1-2mm.
10. a kind of collision detecting system, which is characterized in that including：Flexible skin sensor, robot and robot controller；
The flexible skin sensor is attached at the selected location of robotic surface, passes through signal transfering circuit and robot control
Device connection processed exports collision alarm to robot controller when detecting that collision occurs；
Robot controller controls robot emergent stopping or counter motion according to the collision alarm received.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810592007.5A CN108908329A (en) | 2018-06-11 | 2018-06-11 | A kind of flexible skin sensor and collision detecting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810592007.5A CN108908329A (en) | 2018-06-11 | 2018-06-11 | A kind of flexible skin sensor and collision detecting system |
Publications (1)
| Publication Number | Publication Date |
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| CN108908329A true CN108908329A (en) | 2018-11-30 |
Family
ID=64418727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201810592007.5A Pending CN108908329A (en) | 2018-06-11 | 2018-06-11 | A kind of flexible skin sensor and collision detecting system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111716350A (en) * | 2020-04-28 | 2020-09-29 | 珠海格力智能装备有限公司 | Collision detection method and device, collision detector, system and storage medium |
| CN112372638A (en) * | 2020-10-28 | 2021-02-19 | 深圳市优必选科技股份有限公司 | Robot anti-collision method and device, storage medium and robot |
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| CN105225768A (en) * | 2015-10-12 | 2016-01-06 | 中北大学 | The preparation method of the flexible silver-plated functional particles conducting film of a kind of sandwich structure |
| CN105738012A (en) * | 2016-04-27 | 2016-07-06 | 扬州大学 | Artificial skin flexible tactile sensor measurement device |
| CN107538524A (en) * | 2017-02-16 | 2018-01-05 | 北京卫星环境工程研究所 | Flexible touching response method for robot collision protection |
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| CN103225204A (en) * | 2013-03-22 | 2013-07-31 | 电子科技大学 | Wearable flexible sensor and preparation method |
| CN104552342A (en) * | 2014-10-14 | 2015-04-29 | 常州米泽智能装备科技有限公司 | Robot safety skin and preparation and preparation method and using method thereof |
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| CN111716350B (en) * | 2020-04-28 | 2022-06-07 | 珠海格力智能装备有限公司 | Collision detection method and device, collision detector, system and storage medium |
| CN112372638A (en) * | 2020-10-28 | 2021-02-19 | 深圳市优必选科技股份有限公司 | Robot anti-collision method and device, storage medium and robot |
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