CN111190028A - Electromagnetic balance perception sensor for self-powered head of robot - Google Patents
Electromagnetic balance perception sensor for self-powered head of robot Download PDFInfo
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- CN111190028A CN111190028A CN202010020759.1A CN202010020759A CN111190028A CN 111190028 A CN111190028 A CN 111190028A CN 202010020759 A CN202010020759 A CN 202010020759A CN 111190028 A CN111190028 A CN 111190028A
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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
- G01P15/13—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 measuring the force required to restore a proofmass subjected to inertial forces to a null position
- G01P15/132—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 measuring the force required to restore a proofmass subjected to inertial forces to a null position with electromagnetic counterbalancing means
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention discloses an electromagnetic balance perception sensor for self-powered robot head, which comprises a magnetic ball, a ball shell, an external conductive coil, a small magnetic block and an electrical test system. The conductive coil is tightly attached to the surface of the spherical shell and is connected with the voltmeter through a lead. In order to stabilize the magnetic axis of the magnetic ball, a small magnetic block is placed at the bottom of the spherical shell. The spherical shell is fixed on the head of the robot, and when the robot moves, the magnetic ball in the sensor and the external coil can generate relative displacement. According to the law of electromagnetic induction, five external coils can generate different voltages, the change direction and the change of relative displacement of the magnetic ball can be known according to the relative magnitude of the voltages, and then the change of the motion state of the robot 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 head of the robot in real time, is made of industrialized materials, has low cost and has better practicability.
Description
Technical Field
The invention relates to an electromagnetic balance perception sensor for self-powered robot head, belonging to the field of electromagnetic technology and acceleration sensor. The mechanical energy is converted into electric energy by using the change of the relative position, and differential electric signals are output, so that the motion state of the tested object is detected.
Background
With the development of science and technology and the improvement of living standard of people, robots play more and more important roles in production and life of people. At present, robots have begun to replace human beings in simple and repetitive tasks, such as sorting for courier delivery and handling of robotic arms in processing plants. In the near future, robots will replace human beings to do some complex and heavy work. Naturally, this also puts higher demands on the perception of the robot on itself and the outside world.
At present, robots sense and determine own position and motion state mainly by detecting changes of relative positions of the robots and the outside, and the techniques comprise laser scanning sensors and body sensors. But these are all indirect sensing of self-movement states. How to enable the robot to sense the self motion state without an external reference object is a very critical scientific problem. Therefore, it is necessary to develop a sensor for sensing the motion signal of the robot in real time, so that the sensor can sense the balance state of the robot in real time.
The electromagnetic induction phenomenon means that an electromotive force is generated by a closed conductor placed in a changing magnetic flux or a closed conductor cutting a magnetic induction line. Based on this principle, people invent a power generation device for converting mechanical energy into electric energy, so that large-scale industrial power utilization becomes practical. Similarly, on the basis of realizing power generation, a self-powered device can be prepared by endowing the device with special functions. Patent CN 105351431a discloses a self-powered vehicle damping device, and generates electric energy for itself by the relative displacement of a coil and a permanent magnet during vibration. Patent CN 105192984a discloses a running shoe that can measure and display running distance by autonomous power supply. These are electromotive forces generated by changing the shape and relative displacement of the coil, thereby changing the magnitude of the magnetic flux. However, the number of sensors for realizing robot perception based on electromagnetic induction is still small, and much effort and investment are still needed for realizing the head balance perception of the robot, including the size and the direction of movement.
Disclosure of Invention
In order to make up the blank of the prior art for robot space sensing, the invention provides an electromagnetic balance sensing sensor for self-powered robot head based on the electromagnetic induction principle.
In order to achieve the technical purpose, the head balance perception sensor based on the electromagnetic induction principle is characterized by comprising five parts, namely a magnetic ball, a spherical shell, an external conductive coil, a small magnetic block and an electrical test system. The magnetic ball is arranged in the spherical shell, the conductive coil is tightly attached to the outside of the spherical shell, and the small magnetic block is arranged at the bottom of the spherical shell. And the five external conductive coils are respectively connected with a multi-channel electrical testing system. The invention is based on the electromagnetic induction principle, utilizes the inertia principle, when the robot moves, the sensor at the head part of the robot also moves, so that the magnetic ball and the five external coils generate different relative displacements, and then the coils distributed at different positions generate different magnetic flux changes to generate different voltage signals. Finally, the relative position change of the magnetic ball can be judged through the real-time electric signal difference, so that the motion state change of the robot can be indirectly obtained. 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.
The invention is also characterized in that the inner surface of the spherical shell is hard and smooth, and when the robot heads down and raises, shakes left and right or does other movements, the magnetic ball can roll in the spherical shell.
The invention is also characterized in that the surface of the magnetic ball is smooth and is provided with a ball body with stronger magnetism, and the ball body plays a role of changing a magnetic field in the whole device.
The invention is also characterized in that the magnetic ball can be made of rubidium, iron and boron materials or ferrite materials.
The invention is also characterized in that the external conductive coil is distributed on the outer surface of the spherical shell and has different position distributions, and the function of the external conductive coil comprises two aspects, namely, the external conductive coil is distributed on the outer surface and is easy to prepare and fix, and the different position distributions can generate different signals in a changing magnetic field.
The invention is also characterized in that the external conductive coil adopts a conductive copper wire, a silver wire or other metal wires, and also can adopt silver nano conductive particles or other conductive particles to manufacture the lead by a printing method.
The invention is also characterized in that the small magnetic ball is made of ferrite material, or a compound consisting of rubidium, iron and boron powder and polymer.
The invention is also characterized in that the small magnetic ball only plays a role of fixing the magnetic axis of the magnetic ball, and the magnetic force generated between the small magnetic ball and the magnetic ball is small, so that the rolling of the magnetic ball is not influenced.
The invention is also characterized in that the electrical testing system is a high-precision direct current voltage tester and is used for measuring the induced electromotive force generated by the five induction coils in real time.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the space perception capability is strong. The sensor is arranged on the head of the robot, so that the information acquisition of the head movement of the robot can be realized, including but not limited to knee bending, walking, rolling, turning 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 three-dimensional structure diagram of a spatial sensor according to an embodiment of the present invention
Fig. 2 is a schematic diagram of a spatial sensor according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a spatial sensor provided in an embodiment of the present invention when a head of a robot is raised low.
Fig. 4 is a schematic structural diagram of a spatial sensor according to an embodiment of the present invention when an external impact is applied to the spatial sensor.
Fig. 5 is a schematic structural view of the spatial sensor according to the embodiment of the present invention when the head of the robot performs left kicking.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described below clearly and completely with reference to the accompanying drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. Based on the multiple descriptions of the embodiments of the present disclosure, 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 disclosure.
The invention discloses an electromagnetic balance perception sensor for self-powered robot head, which comprises: the device comprises a magnetic ball, a spherical shell, an external conductive coil, a small magnetic block and a direct-current voltage testing system. The magnetic ball moves in the spherical shell, the external conductive coil is connected with the direct-current voltage testing system, and the small magnetic block is arranged at the bottom of the spherical shell. When the magnetic ball moves in the spherical shell, a changing magnetic field is generated. The changing magnetic field can cut the conductive coils outside the spherical shell, and the electromotive force generated by the five conductive coils can be detected in real time through a direct-current voltage testing system. By comparing the electromotive force, the change of the motion state of the robot, such as left-right shaking, low head raising or forward tilting, can be accurately judged.
In some embodiments, the spherical shell of the electromagnetic balance perception sensor may be a smooth acrylic material, or may be a glass material.
In some embodiments, the external wires may be conductive copper wires or iron wires, or may be coated with conductive nanoparticles, such as silver nanoparticles.
In some embodiments, the magnetic sphere is a smooth-surfaced permanent magnetic sphere, which may be made of rubidium, iron, boron, or ferrite.
In some embodiments, the small magnetic block is a polymer composed of rubidium, iron and boron powder and a polymer, and may also be a ferrite material with weak magnetism.
In some embodiments, the dc voltage testing system may be a multi-channel high-precision dc voltage tester, or may be a plurality of single-channel high-precision dc voltage testers.
The acceleration sensor of the present application is described below in connection with a specific embodiment by way of example.
The embodiment provides a balanced perception sensor based on electromagnetic induction principle, wherein, the magnetic sphere is the smooth rubidium iron boron permanent magnet in surface, and the shell is the smooth ya keli material in surface, and outside conductive coil is the electrically conductive nanometer silver thick liquid of coating, and the small magnet is the combined material that rubidium iron boron powder and Ecoflex are constituteed, and direct current voltage test system is the high accuracy direct current voltage tester of multichannel. For this embodiment, we enumerate the state diagrams of the sensor in different motion states, see fig. 1 to 5. Wherein, fig. 2 shows the state change of the sensor when the robot accelerates linearly in four different directions; FIG. 3 shows the state change of the sensor when the robot performs low head-up and left-right head shaking; FIG. 4 shows the state change of the sensor when the robot is hit by the outside; fig. 5 shows the state change of the sensor when the robot performs a left kicking motion.
Specifically, when the balance sensing sensor accelerates in one direction, the magnetic ball moves relative to the spherical shell and the external coil, so that a changing magnetic field is generated, the external coil is cut, and induced electromotive force is generated. When the sensor is subjected to acceleration in one direction, the magnetic ball moves in the opposite direction due to inertia, and thus a large induced electromotive force is generated in the S-1 coil and the coil in the moving direction of the magnetic ball. For example, as shown in FIG. 2, when the sensor is subjected to a forward acceleration, the magnetic ball moves to the S-2 coil due to inertia, and then the S-1 and S-2 coils generate a large induced electromotive force; on the other hand, since the magnetic ball is far from the S-3 coil, its induced electromotive force is minimal. The greater the acceleration, the greater the moving speed of the magnetic ball, and the greater the induced electromotive force of each coil. Therefore, the acceleration direction and the acceleration magnitude of the sensor can be judged by comparing the magnitudes of the induced electromotive forces generated by the five coils.
Specifically, when the balance perception sensor is subjected to head-down or head-turning motion, differential induced electromotive force can also be generated. For example, as shown in fig. 3, when the robot lowers its head, the magnetic ball rolls forward due to the gravity and approaches the S-3 coil, and a large electromotive force is generated in the S-3 coil. When the robot shakes left, the magnetic ball moves to the right to be close to the S-5 coil, and a large induced electromotive force is generated in the S-5 coil; on the contrary, when the robot shakes the right, the magnetic ball moves to the left to the vicinity of the S-4 coil, and a large induced electromotive force is generated in the S-4 coil. By judging the magnitude of the induced electromotive force generated by different coils, the head of the robot can be judged to move or change the state.
Specifically, when the head of the robot is hit by an external force, the balance sensing sensor is strongly accelerated in a single direction. At this time, due to the inertia effect, the magnetic ball will move in the same direction, so as to generate the differential and distinguishable induced electromotive force. For example, as shown in fig. 4, when the robot head is struck from the left, the magnetic ball moves to the left to the S-5 coil, and a large induced electromotive force is generated in the S-5 coil. When the head of the robot is hit in the front direction, the magnetic ball moves forward to the vicinity of the S-3 coil, and a large induced electromotive force is generated in the S-3 coil. It should be noted that the acceleration of the robot caused by low head-up or head-shaking is much smaller than the acceleration caused by the impact, so the induced electromotive force generated by the robot is also much smaller. By comparing the magnitude and direction of the induced electromotive force generated by different coils, the head movement direction and magnitude can be reached, and the head movement can be judged.
Specifically, unlike a single motion, the balance sensing sensor of the present invention can sense a continuous motion well. For example, as shown in fig. 5, when the robot performs a continuous motion of kicking the left leg, the robot first performs a leg-separating motion to keep balance better, and then the feet form a stable triangle, the whole body swings back and forth slightly, so that the magnetic ball also performs a slight back and forth motion on the ball shell, and a certain induced electromotive force is generated on the coils S-3 and S-2. When the magnetic ball is inclined to the right and the left foot is lifted in the second action, the magnetic ball moves to the right to be near the S-4 coil under the action of gravity, and accordingly large induced electromotive force is generated in the S-4 coil. The third action and the fourth action are respectively kicking out the left leg and withdrawing the left leg, and in the process of the two actions, the whole body of the robot can swing back and forth, so that the magnetic ball in the balance perception sensor is driven to swing back and forth, and certain induced electromotive force is generated in the S-3 coil and the S-2 coil. The fifth action is to recover to the state of standing with legs, the upper half body of the robot can move leftwards, so that the magnetic ball moves leftwards, and a larger electromotive force is generated in the S-5 coil.
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 utility model provides an electric magnetic balance perception sensor for robot head is from energy supply, includes magnetic ball, spherical shell, electrically conductive coil, little magnetic path and electricity test system constitution, its characterized in that, an inclosed cavity has been built to outside spherical shell, the magnetic ball has been placed to the cavity inside, the electrically conductive coil has all been pasted to the different positions of spherical shell outside, the bottom of spherical shell is placed in to little magnetic path, and when the state of sensor changed, the magnetic ball took place relative displacement with outside spherical shell, provided the magnetic field that changes, cut external coil, produced the signal of telecommunication on the voltmeter.
2. The self-powered electromagnetic balance perception sensor for a robot head of claim 1 wherein the inner and outer surfaces of the spherical shell are both hard and smooth and the exterior of the spherical shell is provided with 5 conductive coils.
3. The self-powered electromagnetic balance perception sensor for a robot head of claim 1 wherein the magnetic sphere is a smooth surfaced and strongly magnetic sphere that functions as a varying magnetic field throughout the device.
4. The sensor of claim 1, wherein the magnetic ball material is selected from the group consisting of Nd-Fe-B bulk magnetic materials and composite magnetic powder and polymer materials.
5. The self-powered balanced electromagnetic sensor for robot head as set forth in claim 1, wherein the external conductive coil is distributed on the outer surface of the spherical shell with different positions.
6. The sensor as claimed in claim 1, wherein the external conductive coil is a copper or iron metal wire or a nano-wire made of nano-conductive material.
7. The self-powered electromagnetic balance sensor for a robot head as claimed in claim 1, wherein when the device senses external vibration or speed change, the inner magnetic ball and the outer coil are displaced relatively to each other to generate an electrical signal.
8. The sensor of claim 7, wherein the generated electrical signal is electrical energy converted from mechanical energy, so that it can be self-powered.
9. The sensor of claim 1, wherein the small magnetic block is made of ferrite or a composite of powder of rubidium, iron, boron and polymer.
10. An electromagnetic balance perception sensor for self-energizing a robot head as claimed in claims 1 and 9 wherein the small magnetic blocks are less magnetic and produce less force with the magnetic ball, acting only to fix the magnetic axis of the magnetic ball.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010020759.1A CN111190028A (en) | 2020-01-09 | 2020-01-09 | Electromagnetic balance perception sensor for self-powered head of robot |
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| CN202010020759.1A CN111190028A (en) | 2020-01-09 | 2020-01-09 | Electromagnetic balance perception sensor for self-powered head of robot |
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| CN105356790A (en) * | 2015-11-16 | 2016-02-24 | 中北大学 | Friction-piezoelectric-magnetoelectric compound three-dimensional space multi-degree-of-freedom micro-energy acquisition device |
| CN105591452A (en) * | 2016-01-16 | 2016-05-18 | 上海大学 | Spherical robot capable of balanced generation |
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| CN107707095A (en) * | 2017-11-17 | 2018-02-16 | 张家港安济能电子科技有限公司 | A kind of electromagnet energy accumulator based on the vibration of magnetic ball |
| CN109217611A (en) * | 2018-10-22 | 2019-01-15 | 苏州大学 | A kind of combined type Wave energy collecting device |
| CN110320385A (en) * | 2019-08-13 | 2019-10-11 | 西南交通大学 | A kind of electromagnetic suspension ball system and its control method with acceleration detection function |
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2020
- 2020-01-09 CN CN202010020759.1A patent/CN111190028A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08240477A (en) * | 1995-03-01 | 1996-09-17 | Tokyo Gas Co Ltd | Seismoscope |
| KR20130053596A (en) * | 2011-11-14 | 2013-05-24 | 실버레이 주식회사 | Non-axis revolving field magnet type generator |
| US20150201127A1 (en) * | 2012-06-28 | 2015-07-16 | Lg Innoteck Co., Ltd. | Camera module |
| CN204868882U (en) * | 2015-09-06 | 2015-12-16 | 黄山学院 | Emulation intelligent robot |
| CN105356790A (en) * | 2015-11-16 | 2016-02-24 | 中北大学 | Friction-piezoelectric-magnetoelectric compound three-dimensional space multi-degree-of-freedom micro-energy acquisition device |
| CN105591452A (en) * | 2016-01-16 | 2016-05-18 | 上海大学 | Spherical robot capable of balanced generation |
| CN205883086U (en) * | 2016-05-06 | 2017-01-11 | 广州杰赛科技股份有限公司 | Globular sensor and detection system |
| CN107707095A (en) * | 2017-11-17 | 2018-02-16 | 张家港安济能电子科技有限公司 | A kind of electromagnet energy accumulator based on the vibration of magnetic ball |
| CN109217611A (en) * | 2018-10-22 | 2019-01-15 | 苏州大学 | A kind of combined type Wave energy collecting device |
| CN110320385A (en) * | 2019-08-13 | 2019-10-11 | 西南交通大学 | A kind of electromagnetic suspension ball system and its control method with acceleration detection function |
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Application publication date: 20200522 |