CN111122903A - Self-powered electromagnetic motion perception sensor - Google Patents
Self-powered electromagnetic motion perception sensor Download PDFInfo
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- CN111122903A CN111122903A CN202010020760.4A CN202010020760A CN111122903A CN 111122903 A CN111122903 A CN 111122903A CN 202010020760 A CN202010020760 A CN 202010020760A CN 111122903 A CN111122903 A CN 111122903A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/105—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by magnetically sensitive devices
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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
- B25J19/02—Sensing devices
- B25J19/027—Electromagnetic sensing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K35/00—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit
- H02K35/02—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit with moving magnets and stationary coil systems
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-powered electromagnetic motion perception sensor which comprises a magnetic block, a flexible connector, a conductive coil, a bottom base and a high-precision direct-current voltmeter. The magnetic block is fixed on the bottom base through the flexible connector, and the conductive coil is also fixed on the bottom base and is connected with the high-precision direct current voltmeter through a lead. The bottom base of the sensor is fixed on the head of the robot, and when the robot moves, the magnetic block on the sensor transmits the inertia force downwards through the flexible connecting body so as to realize relative swing and generate a variable magnetic field. The conductive coil at the bottom can generate induced voltage, the change direction and the change of relative displacement of the magnetic block can be known according to the relative magnitude of the voltage, and the change of the motion state of the tested object can be known. The invention has simple structure, good stability and wide application range, can realize self-energy supply, can detect the motion state of the robot in real time, and has low cost and better practicability because all materials are industrialized materials.
Description
Technical Field
The invention relates to a self-powered electromagnetic motion perception sensor, and belongs to the field of electromagnetic technology and acceleration sensors. The device utilizes the electromagnetic induction principle, when the state of the object to be detected changes, the mechanical energy is converted into electric energy through the difference of the transmission speed of the force, and differential electric signals are output, so that the motion state of the object to be detected is detected.
Background
With the development of scientific technology, people have higher and higher auxiliary demands for robots in life and work, which include sanitary cleaning, carrying of heavy objects, construction of dangerous places, complicated and precise assembly work, and the like. This not only requires the robot to be able to realize complex and robust motions, but also requires the robot to be able to realize mutual adaptation with the surrounding environment, so it puts high demands on the perception of the robot.
At present, the sensing modes of the robot for sensing the position of the robot and the outside mainly comprise visual sensing, radar auxiliary sensing and acceleration sensor sensing. The former two are positioned by referring to objects outside the robot, and the latter is used for identifying and sensing the motion state of the robot. Although a series of researches have been conducted on acceleration sensors such as MEMS in gait research of robots, more research and development and investment such as head sensing and energy supply problems are still required for the acceleration sensors for robot sensing.
The electromagnetic induction phenomenon refers to a phenomenon in which an electromotive force is generated when a closed conductor in a changing magnetic flux or the closed conductor cuts a magnetic induction line. The electromagnetic induction principle is applied to the flexible electromagnetic material, and the flexible electromagnetic device with excellent performance can be prepared. Thus, not only can the test capability be enhanced, but also the self-power supply can be realized.
Disclosure of Invention
In order to make up the blank of the prior art for robot space sensing, the invention provides a self-powered electromagnetic motion sensing sensor based on an electromagnetic induction principle.
In order to achieve the technical purpose, the invention adopts the technical scheme that the self-powered electromagnetic motion perception sensor is characterized by comprising five parts, namely a magnetic block, a flexible connector, a conductive coil, a bottom base and a high-precision direct-current voltmeter. The flexible connecting body plays a role in force transmission, so that the magnetic block can swing and displace relative to the coil. The magnetic block, the flexible connecting body and the conductive coil are fixed by the base at the bottom, and the high-precision direct-current voltmeter is connected with the conductive coil together, so that the change of induced electromotive force can be detected in real time. When the state of the tested object changes, the magnetic block transmits inertia force through the flexible connecting body, is bent and deformed, generates relative displacement with the conductive coil, provides a changing magnetic field, cuts the conductive coil and generates an electric signal on the voltmeter. Because the scheme of the invention is designed based on electromagnetic induction, the sensor does not need a power supply, and can generate voltage through the change of magnetic flux to realize the self-powered function. In addition, the invention has very simple structure, all materials are industrialized, and the invention is beneficial to large-scale production.
Preferably, the magnetic block is a mass block, and the material of the mass block may be a rubidium-iron-boron bulk magnetic material, or may be a ferrite material, or may be a composite material of rubidium-iron-boron powder and a polymer.
Preferably, the magnetizing direction of the magnetic block can be vertical magnetizing or horizontal magnetizing, and the magnetic block plays a role of a variable magnetic field in the whole device.
Preferably, the flexible connecting body may be a rectangular film or a spring which is easily deformable.
Preferably, the rectangular film may be a PET film, or may be a flexible metal sheet, such as an iron sheet or a copper sheet.
Preferably, the external conductive coil is made of conductive copper wires, silver wires or other metal wires, and also can be made into a lead by printing silver nano conductive particles or other conductive particles.
Preferably, when the device senses external vibration or changes in speed, the magnetic block and the conductive coil are relatively displaced to generate induced electromotive force.
Preferably, the generated electric signal is electric energy converted from mechanical energy, so that self-power supply can be realized.
Preferably, the base is made of a high molecular polymer, and the material of the base can be Ecoflex or Polydimethylsiloxane (PDMS).
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the space perception capability is strong. The sensor can not only sense the magnitude and direction of acceleration, but also realize the information acquisition of the robot head movement if the sensor is arranged on the robot head, including but not limited to the movements of stepping on the spot, walking, low head raising and shaking, and the like.
(2) The sensor is designed based on the principle of electromagnetic induction, so that it can be self-powered by itself.
(3) The sensor structure and the manufacturing process are simple.
(4) The materials used in the invention are all industrialized materials, and have low price and low cost.
The invention will be further explained with reference to the drawings.
Drawings
FIG. 1 is a schematic diagram of an overall structure of an electromagnetic motion sensor according to an embodiment of the present invention
Fig. 2 is a schematic structural diagram of an electromagnetic motion sensor according to an embodiment of the present invention when the head of a robot is tilted down and tilted up.
Fig. 3 is a schematic structural diagram of an electromagnetic motion sensor provided in an embodiment of the present invention when the head of a robot shakes.
Fig. 4 is a schematic diagram illustrating placement of an electromagnetic motion sensing sensor on a robot body according to an embodiment of the present invention.
Fig. 5 shows an identifiable electrical signal sensed by a sensor when the robot provided by the embodiment of the invention walks.
Fig. 6 shows an identifiable electrical signal sensed by a sensor when the robot steps in place according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. Based on the multiple description of the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without any creative effort belong to the protection scope of the present invention.
The electromagnetic motion perception sensor comprises a magnetic block, a flexible connector, a conductive coil, a bottom base and a high-precision direct-current voltmeter. The flexible connector connects the magnetic block and the bottom base together to transmit force, so that the magnetic block can swing and displace relative to the coil. The conductive coil is fixed on the bottom base, and the high-precision direct-current voltmeter is connected with the conductive coil together, so that the change of induced electromotive force can be detected in real time. When the state of the tested object changes, the magnetic block transmits inertia force through the flexible connecting body, is bent and deformed, generates relative displacement with the conductive coil, provides a changing magnetic field, cuts the conductive coil and generates an electric signal on the voltmeter. The change of the motion state of the robot, such as shaking head left and right, low head-up or walking, can be accurately judged by comparing the real-time size change of the electromotive force.
In some embodiments, the magnetic block of the electromagnetic motion sensor may be made of a magnetic material of rubidium, iron, and boron, or a ferrite material, or a composite material of powder of rubidium, iron, and boron and a polymer.
In some embodiments, the magnetizing direction of the magnetic block may be vertical or horizontal, and it plays a role of a changing magnetic field in the whole device.
In some embodiments, the conductive coil may be a conductive copper wire or iron wire, or may be coated with conductive nanoparticles, such as silver nanoparticles.
In some embodiments, the flexible connector may be in the form of a rectangular membrane or may be a spring that is easily deformable.
In some embodiments, the material of the flexible connecting body may be a PET film, and may also be a flexible metal sheet, such as an iron sheet, a copper sheet, and the like.
In some embodiments, the base is made of a polymer, which may be Ecoflex or Polydimethylsiloxane (PDMS).
The motion sensing sensor of the present application is described below in conjunction with a specific embodiment.
The embodiment provides a motion sensor based on an electromagnetic induction principle, wherein a magnetic block is a compound formed by rubidium, iron and boron powder and Ecoflex, and the magnetizing direction is vertical magnetizing; the flexible connector is a flexible PET film; the conductive coil is a thin copper wire; the bottom base is Ecoflex. For this embodiment, we enumerate the state diagrams of the sensor in different motion states, see fig. 2 to 6. Fig. 2 is a schematic diagram of state changes of the motion sensor when the robot lowers and raises its head; FIG. 3 is a schematic diagram illustrating the state change of the sensor when the robot performs a low head-up operation; FIG. 4 is a schematic diagram of the placement of an electromagnetic motion sensor on the body of a robot according to an embodiment of the present invention; fig. 5 shows an identifiable electrical signal sensed by a sensor when the robot provided by the embodiment of the present invention walks; fig. 6 shows an identifiable electrical signal sensed by a sensor when the robot steps in place according to an embodiment of the present invention.
Specifically, when the electromagnetic motion sensor is placed on the head of the robot and performs the head lowering and head raising actions (as shown in fig. 2), the magnetic blocks on the sensor move in the direction opposite to the head movement due to the inertia. Specifically, when the head of the robot is lowered downwards, the sensor moves away from the conductive coil, so that a changing magnetic field is generated, the magnetic flux is reduced, and induced electromotive force is generated; when the head of the robot is raised upwards, the sensor moves towards the direction close to the conductive coil due to inertia, so that magnetic flux is increased, and induced electromotive force is generated. Because the heads-down and heads-up produce diametrically opposite flux changes, the induced electromotive forces produced by them are of opposite sign. By distinguishing the positive and negative of the induced electromotive force, the motion direction of the head of the robot can be identified; by comparing the absolute value of the induced electromotive force, the intensity of the robot head motion can be judged.
Specifically, when the electromagnetic motion sensor is placed on the head of the robot and the robot shakes left and right (as shown in fig. 3, the placement direction is different from that of fig. 2), the magnetic blocks on the sensor also move relatively due to inertia. Specifically, when the robot shakes left, the magnetic block on the sensor moves in the direction away from the coil to generate a changing magnetic field and cut the magnetic induction line, the magnetic flux of the conductive coil is reduced, and induced electromotive force is generated; when the robot shakes the head to the right, the magnetic block on the sensor moves towards the direction close to the conductive coil, the magnetic flux of the conductive coil is increased, and induced electromotive force is generated.
Specifically, when the sensor is placed on the shoulder of the robot (as shown in fig. 4) and the robot performs the actions of walking (as shown in fig. 5) and stepping in place (as shown in fig. 6), the sensor generates a series of recognizable electrical signals along with the actions of the robot. For example, stepping left and right while the robot is walking may produce different electrical signals on sensors a and B; when the robot steps in place, a regular electric signal is generated on the sensor B, and the sensor A is irregular, which can be used for distinguishing walking and stepping in place of the robot. These excellent test results all show that the electromagnetic motion sensor of the invention has good motion balance perception capability.
The skilled person should understand that: although the invention has been described in terms of the above specific embodiments, the inventive concept is not limited thereto and any modification applying the inventive concept is intended to be included within the scope of the patent claims.
Claims (10)
1. The self-powered electromagnetic motion perception sensor is characterized in that the flexible connector plays a role in force transmission, when the motion state of a tested object changes, the magnetic block can swing and displace relative to the coil, the magnetic block, the flexible connector and the conductive coil are fixed on the bottom base, and the high-precision direct current voltmeter is connected with the conductive coil to detect the change of induced electromotive force in real time.
2. A self-powered electromagnetic motion sensor as recited in claim 1, wherein the magnetic mass is a mass, and the material of the mass may be a rubidium-iron-boron bulk magnetic material, a ferrite material, or a composite material of rubidium-iron-boron powder and a polymer.
3. A self-powered electromagnetic motion sensor as recited in claim 1, wherein the magnetic blocks are magnetized in either a vertical or horizontal direction to provide a varying magnetic field throughout the device.
4. The self-powered electromagnetic motion sensor of claim 1, wherein the flexible connector is in the form of a rectangular membrane or a spring that is easily deformable, and the flexible connector has two functions, one is a certain strength and modulus to support the magnet and the other is a certain flexibility to facilitate the transmission and deformation of force.
5. A self-powered electromagnetic motion sensor according to claim 4, wherein the rectangular film is a PET film or a flexible metal sheet such as an iron sheet or a copper sheet.
6. A self-powered electromagnetic motion sensor as claimed in claim 1, wherein the conductive coil is a copper or iron wire or a nano-wire assembled with nano-conductive material.
7. A self-powered electromagnetic motion sensor as claimed in claim 1 wherein the magnetic block and the conductive coil are displaced relative to each other to generate an induced electromotive force when the device senses external vibration or changes in speed.
8. A self-powered electromagnetic motion sensing sensor as claimed in claim 7 wherein the electrical signal generated is electrical energy converted from mechanical energy so that it is self-powered.
9. A self-powered electromagnetic motion sensor according to claim 1, wherein the base is made of a polymer, such as Ecoflex or Polydimethylsiloxane (PDMS).
10. A self-powered electromagnetic motion sensor as claimed in claim 1 wherein the magnet transmits inertial force to the base via the flexible connector when the movement of the test object changes, thereby displacing the magnet relative to the conductive coil to provide a changing magnetic field and produce a change in magnetic flux and an electrical signal on the voltmeter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010020760.4A CN111122903A (en) | 2020-01-09 | 2020-01-09 | Self-powered electromagnetic motion perception sensor |
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| CN202010020760.4A CN111122903A (en) | 2020-01-09 | 2020-01-09 | Self-powered electromagnetic motion perception sensor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111831154A (en) * | 2020-06-10 | 2020-10-27 | 维沃移动通信有限公司 | Shortcut operation method and device and electronic equipment |
| CN114255582A (en) * | 2021-12-27 | 2022-03-29 | 深圳市希德威科技发展有限公司 | A wisdom monitoring device for leaving post and sleep post action |
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