CN111721456A - Composite touch sensor, system and control method thereof - Google Patents
Composite touch sensor, system and control method thereof Download PDFInfo
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- CN111721456A CN111721456A CN202010152321.9A CN202010152321A CN111721456A CN 111721456 A CN111721456 A CN 111721456A CN 202010152321 A CN202010152321 A CN 202010152321A CN 111721456 A CN111721456 A CN 111721456A
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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
- G01L5/0028—Force sensors associated with force applying means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention relates to the technical field of sensors, and discloses a composite touch sensor which comprises a force sensor, a touch sensor and a touch sensor, wherein the force sensor is used for detecting the pressure value of a target object; the friction generator is connected with the force sensor and used for detecting contact slippage of the target object and the friction generator; the supporting layer is provided with the force sensor and the friction generator and is used for bearing and integrating the force sensor and the friction generator. The composite touch sensor provided by the invention has the characteristic of low energy consumption.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a composite touch sensor, a system and a control method thereof.
Background
The touch sensing technology has wide application prospect in the fields of manufacturing industry, medical treatment, national defense safety, service and the like, and particularly in the intelligent industry represented by robot science and technology. The touch sensors are usually arranged in a matrix to form an array sensor, which can be covered on the surface of a complex three-dimensional carrier such as a robot, an artificial limb and the like, and accurately sense various information of the surrounding environment. The expansion of a single touch sensor into a large-area high-density sensing array is not only a simple combination of electrode layers, but also the problems of transmission and processing caused by massive sensing data are urgently to be solved, and the research on the large-area sensing and large-scale sensing signal processing of robots is a hotspot and difficulty in the research of the field of touch sensing.
At present, the performances of sensitivity, stability, flexibility and the like of a single sensing unit are greatly improved, but because the surface area of a bionic robot is usually large, the touch sensor usually needs to be designed into an array form to meet the detection requirement, when the touch sensors are integrated together at high density, the requirements on lead wires, data bandwidth, signal processing bandwidth and the like are sharply increased, for example, 1 touch sensor is arranged in an area of × 300 micrometers per 300 micrometers, and the number of sensors of 1 square decimeter is 1.1 × 105And (4) respectively. Assuming that the number of leads of each sensor is 1, the number of leads is up to 11 ten thousand; if a bus mode is adopted, if the bandwidth of the detected slip signal is 500Hz, the total bandwidth requirement is as high as 55MHz, and the transmission occupation ratio of the invalid data volume is high, which causes bandwidth waste to a great extent.
High density tactile sensing arrays place higher demands on data processing circuitry. A large number of tactile sensing units generate a huge amount of data, and huge analog circuitry and digital circuitry need to be matched for data processing. For example, when an instrumentation amplifier is used as an analog interface, 11 ten thousand instrumentation amplifiers are required for 11 ten thousand sensors, and analog-to-digital conversion, an MCU unit, and the like are also required to convert the output of the sensors into a bus signal output, which greatly limits the feasibility of the design of the processing circuit.
The high-density touch sensing array has high power consumption and huge energy consumption. Assuming that the resistance of a single piezoresistive bridge is 5k, when the voltage of the bridge is 3.3V, the power consumption of the bridge is 2.18mW, the power consumption of 11 ten thousand sensors is 242W, the power consumption of the processing circuit is not included in the calculation, the requirement on the output power consumption of the power supply circuit is too large, and the requirements on the stability and the accuracy of the power supply under high power consumption are also higher. The integration of high-precision tactile sensors into a tactile sensor array requires huge resource consumption and can only be applied to special occasions insensitive to cost and power consumption.
Disclosure of Invention
To solve the above problems, the present invention proposes a composite tactile sensor that can significantly reduce processing circuitry, bandwidth, and power consumption. The composite tactile sensor includes:
a force sensor for detecting a pressure value of the target object;
the friction generator is connected with the force sensor and used for detecting contact slippage of the target object and the friction generator;
the supporting layer is provided with the force sensor and the friction generator and is used for bearing and integrating the force sensor and the friction generator.
Optionally, the force sensor comprises a MEMS sensor;
the friction generator includes a slip type friction generator, a contact separation type friction generator, or a single motor type friction generator.
Optionally, at least two such friction generators are included;
the at least two friction generators are positioned around the force sensor;
and the at least two friction generators are connected in parallel.
Optionally, the force sensor comprises a first force sensor and a second force sensor;
the friction generator comprises a first friction generator and a second friction generator;
the first friction generator being positioned about the first force sensor and forming a first array;
the second friction generator is positioned around the second force sensor and forms a second array.
The present application discloses in another aspect a method of controlling a composite tactile sensor, including:
determining a contact state of the target object and the composite touch sensor; the composite touch sensor comprises a force sensor, a friction generator and a supporting layer, wherein the force sensor is used for detecting the pressure value of a target object, the friction generator is electrically connected with the force sensor, the friction generator is used for detecting the contact slippage of the target object and the friction generator, the force sensor and the friction generator are arranged on the supporting layer, and the supporting layer is used for bearing and integrating the force sensor and the friction generator;
and determining the working state of the composite touch sensor according to the contact state of the target object and the composite touch sensor.
Optionally, the contact state of the target object with the composite tactile sensor includes non-contact and contact slip.
Optionally, the determining the operating state of the composite tactile sensor according to the contact state of the target object with the composite tactile sensor includes:
and if the contact state of the target object and the composite touch sensor is non-contact, the working state of the composite sensor is a dormant state.
Optionally, the determining the operating state of the composite tactile sensor according to the contact state of the target object with the composite tactile sensor includes:
and if the contact state of the target object and the composite touch sensor is contact slippage, the working state of the composite sensor is an awakening state.
Another aspect of the present application discloses a control system of a composite tactile sensor, which includes a processor and the composite tactile sensor;
the processor is respectively connected with the force sensor and the friction generator.
Optionally, the system further comprises a comparator and a regulated power supply;
the friction generator is connected with the comparator, and the comparator is used for determining the output voltage value of the friction generator so as to control the switch of the stabilized voltage power supply;
the comparator is connected with the regulated power supply, and the regulated power supply is used for supplying voltage to the force sensor.
Adopt above-mentioned technical scheme, the tactile sensor that this application provided has following beneficial effect:
the composite touch sensor comprises a force sensor, a friction generator and a supporting layer, wherein the force sensor is used for detecting the pressure value of a target object and realizing high-precision measurement of signals such as pressure, but the force sensor does not work at ordinary times and is awakened by the friction generator.
The friction generator is connected with the force sensor and used for detecting contact slippage of the target object and the friction generator, the friction generator is used for contact and slippage measurement and long-term guard, the friction generator is a generator and can work without a power supply, when a friction signal is generated, namely, an electric signal is generated and output when the friction signal is in dynamic contact and slippage, the electric signal can be processed as a digital signal as long as simple amplitude limiting and shaping are carried out, analog signal amplification and analog-to-digital conversion are not needed like a traditional touch sensor, high-precision position resolution capability is not needed for contact and slippage, and the friction generators in a certain area are connected in parallel, so that the requirement on bandwidth can be further reduced.
The supporting layer is provided with the force sensor and the friction generator and is used for bearing and integrating the force sensor and the friction generator, namely the composite touch sensor detects and transmits force signals through the force sensor and detects and transmits contact sliding signals through the friction generator, the friction generator does not need an external power supply, low power consumption is realized, other devices can be awakened after long-term watching, and the whole composite sensor has the characteristic of low energy consumption.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a composite tactile sensor according to an alternative embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a composite tactile sensor according to another alternative embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a force sensor according to the present application;
FIG. 4 is a schematic structural diagram of a friction generator according to the present application;
FIG. 5 is a schematic flow chart of a compound sensor control method according to an alternative embodiment of the present application;
FIG. 6 is a schematic flow chart of a compound sensor control method according to another alternative embodiment of the present application;
FIG. 7 is a waveform of the output of the friction generator, comparator and time delay trigger in an alternative embodiment of the present application.
The following is a supplementary description of the drawings:
1-beam-film-island structure; 101-beam structure; 102-a first barrier layer; 103-a membrane structure; 104-a support structure; 105-a force sensor wire; 2-force sensitive resistor; 3-TSV adapter plates; 301-TSV interposer silicon wafer; 302-a second barrier layer; 303-a through hole; 4-metal seal ring; 5-a force sensor; 6-a friction generator; 601-a first electrode layer; 602-a first polymer insulating layer; 603-a second polymer insulating layer; 604-a second electrode layer; 7-a first array; 701-a first friction generator; 702-a first force sensor; 8-a second array; 801-a first friction generator; 802-second force sensor; 9-a support layer; 10-composite tactile sensor wire.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the present application. In the description of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
FIG. 1 is a schematic diagram of a composite tactile sensor according to an alternative embodiment of the present disclosure; the composite touch sensor comprises a force sensor 5, a friction generator 6 and a supporting layer 9, wherein the force sensor 5 is used for detecting the pressure value of a target object; the friction generator 6 is connected with the force sensor 5, and the friction generator 6 is used for detecting the contact slip of the target object and the friction generator 6; the supporting layer 9 is provided with the force sensor 5 and the friction generator 6, and the supporting layer 9 is used for carrying and integrating the force sensor 5 and the friction generator 6.
In an application scenario, the composite sensor is used on the hand of a robot, information collection is carried out on a target object on the hand of the robot more accurately, in an optional implementation mode, the supporting layer 9 is made of soft materials, the composite touch sensor is convenient to place on a curved surface, the force sensor 5 is mainly used for detecting positive pressure, accurate measurement of the positive pressure is achieved, the friction generator 6 detects slippage, the bandwidth is saved, the friction generator 6 does not need to provide an external power supply, and the energy consumption is saved.
In an alternative embodiment, as shown in fig. 1, the touch sensor comprises at least two friction generators 6, the at least two friction generators 6 are located around the force sensor 5, and the at least two friction generators 6 are connected in parallel through a composite sensor wire 10, specifically, the area comprises 8 friction generators 6 and 1 force sensor 5, and the composite touch sensor has the advantage of low energy consumption.
In the prior art, the number of sensors on the electronic skin is large, the conduction time is long, the requirement on the output power consumption of a power supply circuit is overlarge, and the requirements on the stability and the accuracy of a power supply are also high under high power consumption.
The reduction of power consumption not only saves electric energy to a great extent, but also simplifies the design of the power supply part, and can even be used for handheld devices.
And the friction generator 6 of the touch sensor provided by the application does not need an external power supply, has low energy consumption, is on duty for a long time, can awaken other devices, and when the friction generator is in an out-of-operation state, the force sensor 5 is not awakened, and the force sensor 5 is in a dormant state, so that the transmission ratio of effective data volume is improved, the bandwidth is saved, and the energy consumption is greatly reduced.
In another alternative embodiment, as shown in fig. 2, fig. 2 is a schematic structural diagram of a composite tactile sensor according to another alternative embodiment of the present application; the force sensor 5 includes a first force sensor 702 and a second force sensor 802; the friction generator 6 comprises a first friction generator 701 and a second friction generator 801, the first friction generator 701 is positioned around the first force sensor 702, a plurality of first friction generators 701 are connected in parallel through a composite touch sensor metal wire 10 to form a first array 7, the second friction generator 801 is positioned around the second force sensor 802, and a plurality of second friction generators 801 are connected in parallel through a composite touch sensor metal wire 10 to form a second array 8, so that the composite touch sensors are conveniently divided into arrays, the arrays in different areas can be sensed more conveniently, the action of the areas can be controlled, and energy consumption can be saved.
In an alternative embodiment, as shown in FIG. 3, FIG. 3 is a schematic diagram of the force sensor of the present application; the force sensor 5 comprises a MEMS sensor, specifically, the MEMS sensor includes but is not limited to a differential pressure type MEMS pressure sensor, an absolute pressure type MEMS pressure sensor, a capacitance type MEMS pressure sensor, and the like, and the back surface of the force sensor 5 is in direct contact with a target object; in an alternative embodiment, the force sensor 5 includes a beam-film-island structure 1, a force-sensitive resistor 2, and a TSV interposer 3; the beam-film-island structure 1 is used for sensing a tactile signal of a tactile sensor chip, and the beam-film-island structure 1 comprises a beam structure 101 and a film structure 103; the number of the beam structures 101 is greater than or equal to 2, and the front surface of the TSV interposer 3 is connected with the front surface of the beam-film-island structure 1 through a metal seal ring 4. The beam structure 101 and the force sensitive resistor 2 are located in a bonding cavity between the TSV adapter plate 3 and the beam-film-island structure 1, and the metal seal ring 4 and the beam-film-island structure 1 are not completely closed, so that a gap exists, and the bonding cavity is communicated with the atmosphere. The TSV interposer 3 has the advantages of being capable of completing transfer of the beam film structure 103 when used as a Wafer Level Chip Scale Package (WLCSP) substrate, and the TSV interposer 3 has the advantages of shortening a connection path, realizing shortest vertical interconnection, enhancing mechanical strength of devices, and reducing a package size.
In an alternative embodiment, the beam-film-island structure 1 further includes a first barrier layer 102, and the first barrier layer 102 is disposed on the front surface of the beam-film-island structure 1. The first barrier layer 102 is an organic film, so that pollution and damage of the sensor caused by the environment in the working process are avoided, the touch sensor is directly acted on the target object when completing the working task, the touch sensor is easy to stain and damage, the back contact structure can effectively protect devices, and the stability and durability of the sensor are improved.
In an alternative embodiment, the force sensitive resistor 2 is provided on the front side of the beam structure 101 for measuring the pressure resistance; as shown in fig. 3, the beam-film-island structure 1 further includes an island structure and a support structure 104, one end of the beam structure 101 is connected to the island structure, the other end of the beam structure 101 is connected to the support structure 104, the back of the island structure and the back of the beam structure 101 are connected to the film structure 103, the support structure 104 is provided with a force sensor metal line 105, and the beam-film-island structure 1 and the TSV interposer 3 are connected to the metal seal ring 4 through the force sensor metal line 105.
In an alternative embodiment, the friction generator 6 includes a sliding friction generator 6, a contact separation friction generator 6 or a single-motor friction generator 6, as shown in fig. 4, fig. 4 is a schematic structural diagram of the friction generator 6 of the present application; specifically, the friction generator 6 is manufactured by a conventional micromachining process, the friction generator 6 includes a first electrode layer 601, a first polymer insulating layer 602, a second polymer insulating layer 603, and a second electrode layer 604, the second polymer insulating layer 603 is deposited on the upper surface of the second electrode layer 604, the first polymer insulating layer 602 is deposited on the upper surface of the second polymer insulating layer 603, and the first electrode layer 601 is deposited on the upper surface of the first polymer insulating layer 602, wherein the first polymer insulating layer 602 and the second polymer insulating layer 603 form a friction interface, and the first electrode layer 601 and the second electrode layer 604 form a signal transmission terminal of the friction generator 6. The principle of the friction generator 6 is that the friction interface is used to generate electricity, and an electric signal corresponding to the external force acting on the friction generator 6 is output.
The present application discloses in another aspect a method of controlling a composite tactile sensor, comprising the steps of:
1) determining a contact state of the target object and the composite touch sensor; the composite touch sensor comprises a force sensor 5, a friction generator 6 and a supporting layer 9, wherein the force sensor 5 is used for detecting the pressure value of a target object, the friction generator 6 is electrically connected with the force sensor 5, the friction generator 6 is used for detecting the contact sliding of the target object and the friction generator 6, the force sensor 5 and the friction generator 6 are arranged on the supporting layer 9, and the supporting layer 9 is used for bearing and integrating the force sensor 5 and the friction generator 6;
2) the working state of the composite touch sensor is determined according to the step 1), namely the working states of the friction generator 6 and the force sensor 5 are determined according to the step 1), specifically, the signal output condition of the force sensor 5 is determined according to the output signal of the friction generator 6, the voltage is output when the friction generator 6 is in contact with and slips a target object, the slip speed of the target object is detected through the change of the frequency of a rising edge and a falling edge in the output voltage curve of the friction generator 6, and whether the sensor is in contact with the object is judged through the '1' or '0' of the output signal. In an optional embodiment, the touch sensor comprises at least two friction generators 6, the friction generators 6 are connected in parallel, two lines are used for outputting, the bandwidth is saved, the friction generators 6 generate voltage pulses through friction, additional power supply is not needed, the power consumption is low, the force sensor 5 can be awakened after long-term watching, and when the force sensor is not awakened, the composite touch sensor system is in a dormant state, so that the power consumption is saved.
In an alternative embodiment, the contact state of the target object with the composite tactile sensor includes non-contact and contact slip.
In an alternative embodiment, step 2) comprises:
and if the contact state of the target object and the composite touch sensor is non-contact, the working state of the composite sensor is a dormant state.
In another alternative embodiment, step 2) comprises:
and if the contact state of the target object and the composite touch sensor is contact slippage, the working state of the composite sensor is an awakening state.
In an optional embodiment, step 2) further comprises:
if the contact state of the target object and the composite touch sensor is contact slippage, the working state of the composite sensor is an awakening state, and a signal of a generation area of a contact slippage signal generated between the target object and the composite touch sensor is transmitted to the processor.
In an alternative embodiment, as shown in fig. 5, fig. 5 is a schematic flow chart of a composite sensor control method in an alternative embodiment of the present application. The control method of the touch sensor comprises the following steps:
s501: the contact state of the composite sensor and the target object is contact slippage; if yes, go to step S502, otherwise, go to step S503.
S502: the friction generator 6 outputs a signal.
S503: the friction generator 6 has no output signal.
S504: no output signal is sent from the force sensor 5;
since the force sensor 5 is triggered by the output signal of the friction generator 6, when the friction generator 6 outputs no signal, the force sensor 5 also outputs no signal, i.e. the tactile sensor is in a sleep state.
S505: the processor processes the signal of the friction generator 6;
the processor receives the signal in step S502 and processes the signal to obtain a sliding value.
S506: the force sensor 5 outputs a signal;
the force sensor 5 wakes up the force sensor 5 by receiving the signal in step S502.
S507: the processor processes the signal of the force sensor 5;
the processor receives the signal in step S506 and processes the signal to obtain an actual pressure value.
S508: the contact slip between the composite sensor and the target stops, and if so, the process proceeds to step S503, and if not, the process proceeds to step S502.
In another alternative embodiment, the output electrical signal of the friction generator 6 is used to wake up other devices, and a specific wake-up scheme is based on minimizing the number of devices and the time during which the force sensor 5 operates at full power, thereby reducing the power consumption of the force sensor 5 part, and includes but is not limited to generating pulse signals by using the rising edge and the falling edge of the output voltage curve of the friction generator 6, controlling a regulated power supply by using the pulse signals, and the like.
As shown in fig. 6, fig. 6 is a schematic flowchart of a composite sensor control method according to another alternative embodiment of the present application. The control method of the touch sensor comprises the following steps:
s601: the contact state of the composite sensor with the target object is contact slip, if yes, the process goes to step S602, and if not, the process goes to step S603.
S602: the friction generator 6 outputs a signal.
S603: the friction generator 6 has no output signal.
S604: no output signal is sent from the force sensor 5;
since the force sensor 5 is triggered by the output signal of the friction generator 6, when the friction generator 6 outputs no signal, the force sensor 5 also outputs no signal, i.e. the tactile sensor is in a sleep state.
S605: the comparator converts the signal of the friction generator 6 and outputs the signal;
specifically, as shown in fig. 7, fig. 7 is a waveform diagram of the output of the friction generator 6, the comparator and the time delay trigger in an alternative embodiment of the present application, and as can be seen from fig. 7, the waveform of the output signal of the friction generator 6 is a high level of a near sine wave, and the high level is greater than the threshold voltage of the comparator, so as to trigger the comparator to convert the signal of the friction generator 6.
S606: the time delay trigger converts the signal of the comparator and outputs the signal;
as shown in fig. 7, the delay flip-flop triggers the regulated power supply to turn on by switching the signal pulse of the comparator.
S607: the processor processes the signals of the comparator;
the processor receives the signal in step S606 and processes the signal, thereby obtaining a sliding value.
S608: the voltage-stabilized power supply receives the signal of the delay trigger and outputs voltage.
S609: the force sensor 5 outputs a signal;
the voltage in step S608 supplies power to the force sensor 5, thereby waking up the force sensor 5.
S610: the processor processes the signal of the force sensor 5;
the processor receives the signal in step S609, thereby obtaining an actual pressure value.
S611: the contact slip between the composite sensor and the target stops, if so, the process proceeds to step S603, and if not, the process proceeds to step S602.
Another aspect of the present application discloses a control system of a composite tactile sensor, which includes a processor and the composite tactile sensor; the processor is respectively connected with the force sensor 5 and the friction generator 6.
Specifically, the force sensor 5 is integrated with a processing circuit, the output end of the force sensor 5 is connected to the processing circuit, the original data of the complete signal obtained by the independent sensor is subjected to local processing, and then the result is sent to a processor to be subjected to intelligent optimization processing to obtain a final result, so that an actual pressure value is obtained. The control system has low bandwidth requirement, high speed, high reliability and good continuity.
The friction generator 6 is transferred to the flexible substrate through a transfer process and combined with the force sensor 5 to form the touch sensor, wherein the density of the force sensor 5 can be adjusted according to the precision required by the touch sensor, density arrangement is realized, the measurement requirement is met, and meanwhile, the bandwidth and the energy consumption are reduced. The number of the structural force sensors 5 is increased in areas with high requirements on spatial resolution, such as robot fingertips, the number of the structural force sensors 5 is reduced in areas with low requirements on spatial resolution, and the bandwidth can be effectively saved due to the fact that the force sensors 5 occupy the bandwidth and are arranged in a sparse and dense mode.
And the friction generator 6 is utilized to realize regional awakening, so that energy consumption is saved. In an optional embodiment, a plurality of force sensors 5 and a plurality of friction generators 6 form a regional touch sensor, the friction generators 6 are connected in parallel, the output is realized through two wires, the speed of the slippage of a target object is detected by using the frequency change of the rising edge and the falling edge in the output voltage curve of the friction generator 6, and whether the sensor is in contact with the object can be judged through '1' or '0' of an output signal; each area sensor is output through one bus, a plurality of area sensors form a large-area touch sensor, and when the area touch sensor interacts with a target object, an area which does not detect signals of the friction generator 6 is in a dormant state, so that energy is saved.
In an alternative embodiment, the control system of the tactile sensor further comprises a comparator and a regulated power supply; the friction generator 6 is connected with the comparator, and the comparator is used for determining the output voltage value of the friction generator 6 so as to control the switch of the stabilized voltage power supply;
the comparator is connected to the regulated power supply which is used to supply voltage to the force sensor 5.
Specifically, the control system of the touch sensor may further include a delay trigger, the comparator is connected to the regulated power supply through the delay trigger, and the delay trigger is configured to convert a signal of the comparator, so as to trigger the regulated power supply to turn on, so that the regulated power supply provides a voltage to the force sensor 5, and the force sensor 5 is in an operating state.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A composite tactile sensor, comprising:
a force sensor (5) for detecting a pressure value of the target object;
a friction generator (6), wherein the friction generator (6) is connected with the force sensor (5), and the friction generator (6) is used for detecting contact slippage of the target object and the friction generator (6);
the supporting layer (9) is provided with the force sensor (5) and the friction generator (6), and the supporting layer (9) is used for bearing and integrating the force sensor (5) and the friction generator (6).
2. The composite tactile sensor according to claim 1, characterized in that the force sensor (5) comprises a MEMS sensor;
the friction generator (6) comprises a sliding friction generator, a contact separation friction generator or a single-motor friction generator.
3. Composite tactile sensor according to claim 1, characterized in that it comprises at least two of said friction generators (6);
the at least two friction generators (6) are located around the force sensor (5);
and the at least two friction generators (6) are connected in parallel.
4. The composite tactile sensor according to claim 1, wherein the force sensor (5) comprises a first force sensor (702) and a second force sensor (802);
the friction generator (6) comprises a first friction generator (701) and a second friction generator (801);
the first friction generator (701) is located around the first force sensor (702) and forms a first array (7);
the second friction generator (801) is located around the second force sensor (802) and forms a second array (8).
5. A method of controlling a composite tactile sensor, comprising:
determining a contact state of the target object and the composite touch sensor; the composite touch sensor comprises a force sensor (5), a friction generator (6) and a supporting layer (9), wherein the force sensor (5) is used for detecting the pressure value of a target object, the friction generator (6) is electrically connected with the force sensor (5), the friction generator (6) is used for detecting the contact sliding between the target object and the friction generator (6), the force sensor (5) and the friction generator (6) are arranged on the supporting layer (9), and the supporting layer (9) is used for bearing and integrating the force sensor (5) and the friction generator (6);
and determining the working state of the composite touch sensor according to the contact state of the target object and the composite touch sensor.
6. The control method according to claim 5, characterized by comprising:
the contact state of the target object with the composite tactile sensor includes non-contact and contact slip.
7. The control method according to claim 6, wherein the determining the operating state of the composite tactile sensor according to the contact state of the target object with the composite tactile sensor includes:
and if the contact state of the target object and the composite touch sensor is non-contact, the working state of the composite sensor is a dormant state.
8. The control method according to claim 6, wherein the determining the operating state of the composite tactile sensor according to the contact state of the target object with the composite tactile sensor includes:
and if the contact state of the target object and the composite touch sensor is contact slippage, the working state of the composite sensor is an awakening state.
9. A control system for a composite tactile sensor, comprising a processor and a composite tactile sensor according to any one of claims 1 to 4;
the processor is respectively connected with the force sensor (5) and the friction generator (6).
10. The control system of claim 9, further comprising a comparator and a regulated power supply;
the friction generator (6) is connected with the comparator, and the comparator is used for determining the output voltage value of the friction generator (6) so as to control the switch of the regulated power supply;
the comparator is connected with the stabilized voltage power supply, and the stabilized voltage power supply is used for providing voltage for the force sensor (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010152321.9A CN111721456B (en) | 2020-03-06 | 2020-03-06 | Composite touch sensor, control system and control method thereof |
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| CN202010152321.9A CN111721456B (en) | 2020-03-06 | 2020-03-06 | Composite touch sensor, control system and control method thereof |
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