CN110285912A - A kind of pressure sensitive signal supervisory instrument - Google Patents
A kind of pressure sensitive signal supervisory instrument Download PDFInfo
- Publication number
- CN110285912A CN110285912A CN201910430578.3A CN201910430578A CN110285912A CN 110285912 A CN110285912 A CN 110285912A CN 201910430578 A CN201910430578 A CN 201910430578A CN 110285912 A CN110285912 A CN 110285912A
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- Prior art keywords
- signal
- sensor
- pressure sensitive
- controller
- supervisory instrument
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- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000003321 amplification Effects 0.000 claims description 7
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 3
- 229920002379 silicone rubber Polymers 0.000 claims description 3
- 230000035807 sensation Effects 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 2
- 230000008447 perception Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000035945 sensitivity Effects 0.000 description 3
- 230000005355 Hall effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005352 galvanomagnetic phenomena Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000011368 organic material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000037152 sensory function Effects 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
- G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2612—Data acquisition interface
Abstract
The invention provides a kind of pressure sensitive signal supervisory instrument, including touch sensor, signal processing circuit, analog-digital converter and controller and host computer, the signal output end of the touch sensor and the input terminal of signal processing circuit connect, the other end of signal processing circuit is connected with the digital analog converter, the digital analog converter is connected with the controller, the controller and host computer two-way communication.Design of the invention is more suitable for operating.The present invention is applied to flexible touch sensation sensor, can accurately detect the stability of signal.The flexible touch sensation sensor is easy to contact, to create the chance of perception environment.
Description
Technical field
The invention belongs to sensor device field, more particularly, to a kind of pressure sensitive signal supervisory instrument.
Background technique
Touch sensor is the sensor for imitating feeling function in robot.Tactile is that people directly connects with external environment
Important sensory function when touching, developing the touch sensor met the requirements is one of developing key problem in technology of robot.With
The development of microelectric technique and the appearance of various organic materials, it has been proposed that the development side of diversified touch sensor
Case, but laboratory stage is belonged to greatly at present, reach the few of commercialization.Touch sensor is broadly divided into contacting feeling by function
Sensor, force-moment feel sensor, killing fluid additive and sliding feeling sensor etc..Touch sensor can formally be divided into electricity
The diversified forms such as appearance formula, resistance-type, piezoelectric type, optical fiber type, wherein capacitance type touch sensor is because temperature drift is small, sensitivity is high etc.
Advantage is always the research hotspot in this field.From point of view of practicability, touch sensor should have resolving power height, range
Greatly, the advantages that stability is good, noise is small, in addition to the material and structure of sensor itself, although each biography of array-type sensor
Feel unit detection accuracy it is very high, but due to each sensing unit be not it is totally continuous, there are check frequencies, and with
The increase of sensing unit, input and output lead is various, so that detection system data volume to be dealt with when large area detects
It is too big, the real-time of detection is influenced, so signal detection system is also the important guarantee of sensor performance.
Summary of the invention
In view of this, the invention be directed to it is a kind of applied to Low ESR robot sensing's system, it is low in cost,
Detection cycle is reduced, and can effectively detect the pressure sensitive signal supervisory instrument of acquisition signal.
In order to achieve the above objectives, the technical solution of the invention is achieved in that
A kind of pressure sensitive signal supervisory instrument, including touch sensor, signal processing circuit, analog-digital converter and control
Device and host computer, the signal output end of the touch sensor and the input terminal of signal processing circuit connect, signal processing
The other end of circuit is connected with the digital analog converter, and the digital analog converter is connected with the controller, described
Controller and host computer two-way communication；
The touch sensor includes being placed in the semi-transparent Ming Dynasty style fexible film convex surface above sensor array, for acquiring
The sensor array of the convex surface force vector is covered with evenly distributed black magnetic stripe on the inner surface on the film convex surface.
Further, the center of the sensor array is equipped with ccd image sensor, the imaging sensor
It is connected with controller, to acquire the line image deformed on the inside of nonreentrant surface, is additionally provided on every side of the sensor array
One light source.
Further, the sensor array be equipped at least 64 Hall sensors, the Hall sensor with
Rectangular array.
Further, the semi-transparent Ming Dynasty style fexible film convex surface is silicon rubber convex surface.
Further, the signal processing circuit include current-to-voltage converting circuit, signal amplification circuit and
Signal comparator circuit, the current-to-voltage converting circuit, signal amplification circuit, signal comparator circuit and difference conversion circuit according to
Secondary connection.
Further, the controller is DSP digital processing unit.
Further, the controller passes through ZigBee module or the two-in-one communication module of WIFI/ bluetooth and host computer
Connection.
Further, the controller is connect by RJ45 network interface with host computer.
Compared with the existing technology, a kind of pressure sensitive signal supervisory instrument described in the invention has the advantage that
Design of the invention is more suitable for operating.The present invention is applied to flexible touch sensation sensor, can accurately detect signal
Stability.The flexible touch sensation sensor is easy to contact, to create the chance of perception environment.And it is passed by image
Sensor can detecte the force vector in all directions, provide the better signal feedback about object to be grabbed for main robot.
The present invention has higher sensitivity, by the complete acquisition systems of imaging sensor, Hall sensor and other sensors from
And realize the voltage signal of pressing position and pressure size.Present invention detection is accurate, and system structure is complete, being easily integrated.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide to further understand the invention, present invention wound
The illustrative embodiments and their description made are used to explain the present invention creation, do not constitute the improper restriction to the invention.?
In attached drawing:
Fig. 1 is structural schematic diagram described in the invention embodiment；
Fig. 2 is conversion circuit schematic diagram described in the invention embodiment；
Fig. 3 is amplifying circuit schematic diagram described in the invention embodiment.
Fig. 4 is the structural block diagram of the invention embodiment.
Description of symbols:
1- fexible film convex surface；2- sensor array.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
A kind of pressure sensitive signal supervisory instrument, including touch sensor, signal processing circuit, analog-digital converter and control
Device and host computer, the signal output end of the touch sensor and the input terminal of signal processing circuit connect, signal processing
The other end of circuit is connected with the digital analog converter, and the digital analog converter is connected with the controller, described
Controller and host computer two-way communication；
The touch sensor includes being placed in the semi-transparent Ming Dynasty style fexible film convex surface 1 above sensor array, for adopting
Collect the sensor array 2 of the convex surface force vector, is covered with evenly distributed black line on the inner surface on the film convex surface
Item.
Preferably, the center of the sensor array is equipped with ccd image sensor, the imaging sensor
It is connected with controller, to acquire the line image deformed on the inside of nonreentrant surface, is additionally provided on every side of the sensor array
One light source.
Preferably, the sensor array 2 be equipped at least 64 Hall sensors, the Hall sensor with
Rectangular array.
Preferably, the semi-transparent Ming Dynasty style fexible film convex surface is silicon rubber convex surface 1.
The present invention is applied on the tentacle arm of robot, and each finger joint is respectively equipped with convex described in 4 touch sensors
The inner surface in face 1 is covered with black magnetic stripe.When contact object, when generating pressure, the hall effect sensor on sensor array can
To be contacted with the black magnetic stripe, to generate galvanomagnetic-effect.Each hall effect sensor is read by analog-digital converter.
The converter is a part of DSP digital processing unit, transmits information.Four circles have been used in each phalanges of robot finger
It pushes up, shares 24 touch sensors on the manipulator of robot.In addition, ccd image sensor can be passed directly with CCD image
Sensor IO connection, acquires simple picture signal, so as to meet detection pressure signal, avoids pressure excessive, passes to tactile
Sensor generates damage；Preferably, the signal processing circuit includes current-to-voltage converting circuit, signal amplification circuit
And signal comparator circuit, the current-to-voltage converting circuit, signal amplification circuit, signal comparator circuit and difference conversion electricity
Road is sequentially connected, and circuit described above is the set of available circuit, and details are not described herein, example: main in signal amplification circuit
The active high-pass filter to be made of EL2075 operational amplifier is constituted.Difference conversion circuit, the circuit will mainly compare
The square wave of circuit output is converted into differential signal, it is therefore an objective to improve the stability and anti-interference ability of signal.
Preferably, the controller is DSP digital processing unit.
Preferably, the controller passes through ZigBee module or the two-in-one communication module of WIFI/ bluetooth and host computer
Connection.
Preferably, the controller is connect by RJ45 network interface with host computer.
It can detecte the force vector in all directions by imaging sensor, provide for main robot about object to be grabbed
Better signal feedback.The present invention has higher sensitivity, passes through imaging sensor, Hall sensor and other sensors
Complete acquisition system to realize the voltage signal of pressing position and pressure size.
The foregoing is merely the preferred embodiments of the invention, are not intended to limit the invention creation, all at this
Within the spirit and principle of innovation and creation, any modification, equivalent replacement, improvement and so on should be included in the invention
Protection scope within.
Claims (8)
1. a kind of pressure sensitive signal supervisory instrument, it is characterised in that: turn including touch sensor, signal processing circuit, modulus
Parallel operation and controller and host computer, the signal output end of the touch sensor and the input terminal of signal processing circuit connect
It connects, the other end of signal processing circuit is connected with the digital analog converter, the digital analog converter and the controller
It is connected, the controller and host computer two-way communication；
The touch sensor includes the semi-transparent Ming Dynasty style fexible film convex surface being placed in above sensor array, described for acquiring
Convex surface force vector sensor array, be covered with evenly distributed black lines on the inner surface on the film convex surface.
2. a kind of pressure sensitive signal supervisory instrument according to claim 1, it is characterised in that: the sensor array
Center be equipped with a ccd image sensor, the imaging sensor is connected with controller, to acquire nonreentrant surface inside
The line image of deformation is additionally provided with a light source on every side of the sensor array.
3. a kind of pressure sensitive signal supervisory instrument according to claim 1, it is characterised in that: the sensor array
At least 64 Hall sensors are equipped with, the Hall sensor is with rectangular array.
4. a kind of pressure sensitive signal supervisory instrument according to claim 1, it is characterised in that: the semi-transparent Ming Dynasty style is soft
Property film convex surface be silicon rubber convex surface.
5. a kind of pressure sensitive signal supervisory instrument according to claim 1, it is characterised in that: at the signal
Reason circuit includes current-to-voltage converting circuit, signal amplification circuit and signal comparator circuit, and the Current Voltage converts electricity
Road, signal amplification circuit, signal comparator circuit and difference conversion circuit are sequentially connected.
6. a kind of pressure sensitive signal supervisory instrument according to claim 1, it is characterised in that: the controller is
DSP digital processing unit.
7. a kind of pressure sensitive signal supervisory instrument according to claim 1, it is characterised in that: the controller passes through
ZigBee module or the two-in-one communication module of WIFI/ bluetooth are connect with host computer.
8. a kind of pressure sensitive signal supervisory instrument according to claim 1, it is characterised in that: the controller passes through
RJ45 network interface is connect with host computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430578.3A CN110285912A (en) | 2019-05-22 | 2019-05-22 | A kind of pressure sensitive signal supervisory instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430578.3A CN110285912A (en) | 2019-05-22 | 2019-05-22 | A kind of pressure sensitive signal supervisory instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110285912A true CN110285912A (en) | 2019-09-27 |
Family
ID=68002684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910430578.3A Pending CN110285912A (en) | 2019-05-22 | 2019-05-22 | A kind of pressure sensitive signal supervisory instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110285912A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201163226Y (en) * | 2008-02-29 | 2008-12-10 | 合肥工业大学 | Touch sensor based on flexible pressure-sensitive conductive rubber |
| US20100155579A1 (en) * | 2006-11-02 | 2010-06-24 | Massachusetts Institute Of Technology | Compliant tactile sensor |
| CN102928137A (en) * | 2012-11-14 | 2013-02-13 | 合肥工业大学 | Four-interdigital-electrode type three-dimensional force contact sensor for artificial skin |
| CN106289588A (en) * | 2015-05-27 | 2017-01-04 | 鸿富锦精密工业（深圳）有限公司 | Pressure sensor device, the mechanical hand with this pressure sensor device and robot |
| CN108613761A (en) * | 2018-04-27 | 2018-10-02 | 电子科技大学 | A kind of flexible 3 D contact force sensor |
| CN210180578U (en) * | 2019-05-22 | 2020-03-24 | 浙江大学滨海产业技术研究院 | Signal detection system of touch sensor |
-
2019
- 2019-05-22 CN CN201910430578.3A patent/CN110285912A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100155579A1 (en) * | 2006-11-02 | 2010-06-24 | Massachusetts Institute Of Technology | Compliant tactile sensor |
| CN201163226Y (en) * | 2008-02-29 | 2008-12-10 | 合肥工业大学 | Touch sensor based on flexible pressure-sensitive conductive rubber |
| CN102928137A (en) * | 2012-11-14 | 2013-02-13 | 合肥工业大学 | Four-interdigital-electrode type three-dimensional force contact sensor for artificial skin |
| CN106289588A (en) * | 2015-05-27 | 2017-01-04 | 鸿富锦精密工业（深圳）有限公司 | Pressure sensor device, the mechanical hand with this pressure sensor device and robot |
| CN108613761A (en) * | 2018-04-27 | 2018-10-02 | 电子科技大学 | A kind of flexible 3 D contact force sensor |
| CN210180578U (en) * | 2019-05-22 | 2020-03-24 | 浙江大学滨海产业技术研究院 | Signal detection system of touch sensor |
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