CN112067170A - Flexible touch sensor based on transformer principle and flexible touch detection system thereof - Google Patents
Flexible touch sensor based on transformer principle and flexible touch detection system thereof Download PDFInfo
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- CN112067170A CN112067170A CN202010962577.6A CN202010962577A CN112067170A CN 112067170 A CN112067170 A CN 112067170A CN 202010962577 A CN202010962577 A CN 202010962577A CN 112067170 A CN112067170 A CN 112067170A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/12—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
- G01L1/127—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress by using inductive means
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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
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/169—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using magnetic means
Abstract
The invention discloses a transformer principle-based flexible touch sensor and a flexible touch detection system thereof, belongs to the technical field of robot sensors, and aims to solve the problems that the existing electromagnetic touch sensor is greatly influenced by electromagnetic interference, and high sensitivity and a large range cannot be considered at the same time. The electromagnetic shielding device comprises a sensitive layer, a signal conversion layer and an electromagnetic shielding layer which are sequentially arranged from top to bottom; the sensitive layer comprises an elastomer and a sensitive sheet embedded in the elastomer; a cavity is formed in the middle of the bottom of the elastic body, an inverted cone structure is arranged in the cavity, the tip of a cone of the inverted cone structure is in contact with the signal conversion layer, and the top of the elastic body is of a convex hemispherical structure; the sensitive sheet adopts a magnetic conductive sensitive sheet or a conductive sensitive sheet; the signal conversion layer comprises a primary coil, a secondary coil and a substrate; the primary coil and the secondary coil are both wrapped in the substrate, the primary coil is arranged on the lower layer, and the secondary coil is arranged on the upper layer; the electromagnetic shielding layer is arranged at the bottom of the signal conversion layer. The invention is used for the design and manufacture of the robot.
Description
Technical Field
The invention relates to a transformer principle-based flexible touch sensor and a flexible touch detection system thereof, belonging to the technical field of robot sensors.
Background
The sense of touch, one of the five human senses, plays a key role in human life, learning and work. In the case of a robot, the sense of touch is an important means for realizing its direct action with the external environment, and the sense of touch enables the robot to perceive more physical properties of a target object, such as surface shape, hardness, temperature, humidity, and material, than other forms of perception. Therefore, the touch sensor is important for realizing the intellectualization of the robot, and can help the robot to identify a target object and complete various complex tasks.
Human beings can finish not only light and exquisite operation such as embroidery, injection by means of the sense of touch of the fingers, but also can finish laborious and heavy operation such as carrying goods and the like because the sense of touch of the human fingers has high sensitivity and large measuring range. Most of the recently disclosed invention patents have the following disadvantages: the range of the sensor with high sensitivity is limited; the sensitivity of the sensor with large measuring range is not high. In smart operation, in order to provide a robot with human operation ability, it is necessary to develop a novel tactile sensor having high sensitivity and a large measurement range.
Disclosure of Invention
The invention aims to solve the problems that the existing electromagnetic touch sensor is greatly influenced by electromagnetic interference and high sensitivity and a large range cannot be considered at the same time, and provides a transformer principle-based flexible touch sensor and a flexible touch detection system thereof.
The invention relates to a flexible touch sensor based on a transformer principle, wherein a sensing unit of the sensor comprises a sensitive layer, a signal conversion layer and an electromagnetic shielding layer which are sequentially arranged from top to bottom;
the sensitive layer comprises an elastomer and a sensitive sheet embedded in the elastomer; a cavity is formed in the middle of the bottom of the elastic body, an inverted cone structure is arranged in the cavity, the tip of a cone of the inverted cone structure is in contact with the signal conversion layer, and the top of the elastic body is of a convex hemispherical structure; the sensitive sheet adopts a magnetic conductive sensitive sheet or a conductive sensitive sheet;
the signal conversion layer comprises a primary coil, a secondary coil and a substrate; the primary coil and the secondary coil are both wrapped in the substrate, the primary coil is arranged on the lower layer, and the secondary coil is arranged on the upper layer;
the electromagnetic shielding layer is arranged at the bottom of the signal conversion layer;
the sinusoidal excitation voltage is input into the primary coil, the secondary coil outputs induction voltage, when the sensing unit is subjected to external contact force, the sensitive sheet embedded in the elastic body generates displacement, the magnetic field generated by the sensitive sheet changes the magnetic field around the secondary coil due to the change of the position, and further the amplitude of the induction voltage output by the secondary coil changes.
Preferably, the sensitive layer and the signal conversion layer are adhered through an adhesive.
Preferably, the sensing units form a sensor array by 3 × 3, and the interval between the sensing units is 5.3 mm.
Preferably, the electromagnetic shielding layer is a double-layer electromagnetic shielding sheet formed by a magnetic conductive shielding sheet and a conductive shielding sheet.
Preferably, the primary coil, the secondary coil and the substrate are manufactured into a flexible PCB by using a flexible circuit board process.
The invention relates to a flexible touch detection system based on a flexible touch sensor, which is realized based on the flexible touch sensor and comprises the flexible touch sensor and a data acquisition system;
the data acquisition system comprises an excitation source, a signal processing module and a data acquisition module;
the excitation source comprises a wave generator and an operational amplifier, and an excitation signal generated by the wave generator is output to a primary coil of the flexible touch sensor through the operational amplifier;
the signal processing module comprises an operational amplifier and a peak envelope detector, the operational amplifier amplifies the induction voltage output by the secondary coil of the flexible touch sensor and outputs the amplified induction voltage to the peak envelope detector, and the peak envelope detector detects the amplitude of the induction voltage;
the data acquisition module comprises a data acquisition card and an upper computer, the amplitude value obtained by the detection of the peak envelope detector is acquired by the data acquisition card and then output to the upper computer, and the upper computer stores and displays the data.
Preferably, the number of operational amplifiers in the excitation source corresponds to the number of primary coils in the flexible tactile sensor;
the number of operational amplifiers in the signal processing module corresponds to the number of secondary coils in the flexible tactile sensor.
Preferably, the peripheral circuit of the operational amplifier of the driver source includes: resistors R1-R3 and a capacitor C1;
an excitation signal output end generated by the wave generator is simultaneously connected with a non-inverting input end of the operational amplifier and one end of the resistor R1, the other end of the resistor R1 is connected with GND, an inverting input end of the operational amplifier is simultaneously connected with one end of the resistor R2 and one end of the resistor R3, the other end of the resistor R3 is connected with the output end of the operational amplifier, the other end of the resistor R2 is connected with GND, the output end of the operational amplifier is connected with a primary coil of the flexible tactile sensor, and the capacitor C1 is connected with the primary.
Preferably, the R1 is 50 Ω, the R2 is 500 Ω, and the R3 is 800 Ω;
according to
Calculating to obtain the capacitance C1: 8nF, where f denotes the excitation frequency 1MHz and L denotes the inductance of the primary coil 3.28 muH.
Preferably, the peak envelope detector comprises a diode arranged at the front end and an RC low pass filter arranged at the back end.
The invention has the advantages that: the flexible touch sensor based on the transformer principle has the characteristics of high sensitivity and wide measurement range, and can be used for smart operation of a robot system. In the low-range stage, the sensitivity of the sensor is high, so that the robot can finish fine operation. In the high range phase, the sensor sensitivity drops somewhat, but enables the robot to grip heavier objects. And the sensitive layer and the signal conversion layer are separated, so that the sensitive layer and the signal conversion layer are convenient to replace, and when the elastic body is damaged, the elastic body can be directly detached and replaced by a new elastic body. The signal conversion layer is made into a flexible PCB, the flexible PCB does not contain any electronic component, flexibility is better, and durability is better under the protection of the elastic body.
Drawings
FIG. 1 is a schematic diagram of a transformer-based flexible tactile sensor according to the present invention;
FIG. 2 is a schematic diagram of the operation of a transformer-based flexible tactile sensor according to the present invention;
FIG. 3 is a schematic diagram of a sensor array according to the present invention;
FIG. 4 is a functional block diagram of a flexible tactile sensing system based on flexible tactile sensors according to the present invention;
FIG. 5 is a schematic diagram of the peripheral circuit structure of the operational amplifier of the driver according to the present invention;
fig. 6 is a schematic circuit diagram of the signal processing module according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The first embodiment is as follows: the following describes the present embodiment with reference to fig. 1 and fig. 2, and the sensing unit of the present embodiment includes a sensing layer 10, a signal conversion layer 20 and an electromagnetic shielding layer 6, which are sequentially arranged from top to bottom;
the sensitive layer 10 comprises an elastomer 2 and a sensitive sheet 1 embedded in the elastomer 2; a cavity is formed in the middle of the bottom of the elastic body 2, an inverted cone structure is arranged in the cavity, the tip of a cone of the inverted cone structure is in contact with the signal conversion layer 20, and the top of the elastic body 2 is of a convex hemispherical structure; the sensitive sheet 1 adopts a magnetic conductive sensitive sheet or a conductive sensitive sheet;
the signal conversion layer 20 includes a primary coil 3, a secondary coil 4, and a substrate 5; the primary coil 3 and the secondary coil 4 are both wrapped in the substrate 5, the primary coil 3 is arranged on the lower layer, and the secondary coil 4 is arranged on the upper layer;
the electromagnetic shielding layer 6 is arranged at the bottom of the signal conversion layer 20;
the sinusoidal excitation voltage is input into the primary coil 3, the secondary coil 4 outputs the induced voltage, when the sensing unit is subjected to a contact external force, the sensing piece 1 embedded in the elastic body 2 generates displacement, the magnetic field generated by the sensing piece 1 changes the magnetic field around the secondary coil 4 due to the change of the position, and further the amplitude of the induced voltage output by the secondary coil 4 changes. In the present embodiment, a sinusoidal excitation voltage is input to the primary coil 3, the secondary coil 4 outputs an induced voltage, and when the sensing unit is not subjected to a contact external force, the amplitude of the induced voltage output by the secondary coil 4 is not changed.
In this embodiment, the conductive sensitive sheet generates a magnetic field due to the eddy current effect, and the magnetic sensitive sheet itself has a magnetic field.
In the present embodiment, the elastic body 2 and the sensitive sheet 1 embedded in the elastic body 2 are integrally combined. The middle of the bottom of the elastic body 2 is provided with a cavity, an inverted cone structure is arranged in the cavity, the tip of a cone of the inverted cone structure is in contact with the signal conversion layer 20, the range of the sensor can be enlarged by the inverted cone structure, and the sensitivity of the sensor can be improved by the cavity. When the stress of the sensor is small, the tip of the cone of the inverted cone structure is contacted with the signal conversion layer 20, and at the moment, the displacement of the sensitive sheet 1 is large, and the sensitivity is high; when the sensor is stressed greatly, the tip part and the middle part of the cone of the inverted cone structure are both contacted with the signal conversion layer 20, at the moment, the displacement of the sensitive sheet 1 is small, the sensitivity is low, but the measuring range is enlarged at the moment. The top of the elastic body 2 is a convex hemisphere structure, and the convex hemisphere contributes to the stress of the sensor.
In the present embodiment, the primary coil 3 and the secondary coil 4 are distributed in different layers, and the primary coil 3 is larger than the secondary coil 4 and has a larger number of turns.
In this embodiment, the electromagnetic shield layer 6 is provided at the bottom of the entire sensor, and protects the sensor from electromagnetic interference from the mounted body.
In the present embodiment, the electromagnetic shield layer 6 is a double-layer noise suppression sheet IFL 16-030EB available from TDK corporation.
In this embodiment, the magnetically conductive sensitive sheet is made of a magnet or ferrite; the conductive sensitive sheet is made of copper or aluminum; the elastomer 2 is made of polydimethylsiloxane. Polydimethylsiloxane (PDMS) is a hydrophobic type silicone material.
Further, the sensitive layer 10 and the signal conversion layer 20 are adhered by an adhesive.
In this embodiment, the sensitive layer 10 and the signal conversion layer 20 are adhered by an adhesive (such as glue) for easy replacement.
Still further, as shown in fig. 3, the sensing units form a sensor array in 3 × 3, and the interval between the sensing units is 5.3 mm.
Furthermore, the electromagnetic shielding layer 6 is a double-layer electromagnetic shielding sheet formed by a magnetic shielding sheet and a conductive shielding sheet.
Still further, the primary coil 3, the secondary coil 4 and the substrate 5 are manufactured into a flexible PCB by using a flexible circuit board process.
The second embodiment is as follows: the following describes the present embodiment with reference to fig. 4, where the flexible tactile detection system based on the flexible tactile sensor according to the present embodiment is implemented based on the flexible tactile sensor, and the detection system includes the flexible tactile sensor and a data acquisition system;
the data acquisition system comprises an excitation source, a signal processing module and a data acquisition module;
the excitation source comprises a wave generator and an operational amplifier, and an excitation signal generated by the wave generator is output to the primary coil 3 of the flexible touch sensor through the operational amplifier;
the signal processing module comprises an operational amplifier and a peak envelope detector, the operational amplifier amplifies the induction voltage output by the secondary coil 4 of the flexible touch sensor and outputs the amplified induction voltage to the peak envelope detector, and the peak envelope detector detects the amplitude of the induction voltage;
the data acquisition module comprises a data acquisition card and an upper computer, the amplitude value obtained by the detection of the peak envelope detector is acquired by the data acquisition card and then output to the upper computer, and the upper computer stores and displays the data.
In the embodiment, the data acquisition system adopts a multi-channel independent sampling mode, each channel is provided with independent signal processing, sample holding and ADC (analog to digital converter) circuits, the data acquisition system has the advantages of synchronous acquisition, high-speed acquisition and the like, and the signal processing circuits of the channels are not influenced by each other.
In this embodiment, the excitation source includes a wave generator and an operational amplifier, and the operational amplifier can reduce input impedance to the flexible tactile sensor and improve output capability of the excitation source.
In this embodiment, the data acquisition card is implemented by USB-6212 of NI corporation, and integrates a high-speed ADC acquisition circuit (up to 400KSPS), the resolution is 14 bits, and the input impedance is large (up to 10G Ω or more).
In the embodiment, the upper computer is realized by adopting a LabView development visual data processing upper computer, six-dimensional force information is displayed in real time, the adoption rate is 1KSPS, and data can be stored at any time.
In this embodiment, the driver and the operational amplifier in the signal processing module are realized by using a current feedback OPA4684 of TI corporation.
Further, the number of operational amplifiers in the excitation source corresponds to the number of primary coils 3 in the flexible tactile sensor;
the number of operational amplifiers in the signal processing module corresponds to the number of secondary coils 4 in the flexible tactile sensor.
Still further, as shown in fig. 5, the peripheral circuit of the operational amplifier of the driver source includes: resistors R1-R3 and a capacitor C1;
an excitation signal output end generated by the wave generator is simultaneously connected with a non-inverting input end of the operational amplifier and one end of the resistor R1, the other end of the resistor R1 is connected with GND, an inverting input end of the operational amplifier is simultaneously connected with one end of the resistor R2 and one end of the resistor R3, the other end of the resistor R3 is connected with the output end of the operational amplifier, the other end of the resistor R2 is connected with GND, the output end of the operational amplifier is connected with the primary coil 3 of the flexible tactile sensor, and the capacitor C1 is connected with the primary coil.
Still further, the R1 is 50 Ω, the R2 is 500 Ω, and the R3 is 800 Ω;
according to
Calculating to obtain the capacitance C1: 8nF, where f denotes the excitation frequency 1MHz and L denotes the inductance of the primary coil 3.28 muh.
In this embodiment, the gain of 120MHz bandwidth may exceed 10 using a current feedback type operational amplifier (OPA4684) from texas instruments. Since R3 is 800 Ω and R2 is 500 Ω, the magnification is 2.6 times (1+ R3/R2). The input impedance R1 is 50 Ω. The amplitude of the sine alternating current excitation input by the primary coil 3 is improved, so that the sensor can obtain stronger touch signals, and the most convenient method is to connect a capacitor in parallel on the primary coil 3, improve the impedance of a load and further improve the power factor.
Still further, the peak envelope detector comprises a diode arranged at the front end and an RC low pass filter arranged at the back end.
In the present embodiment, as shown in fig. 6, the schematic diagram of the circuit structure of the signal processing module is shown, and the signal processing module has the characteristics of simple principle, high detection efficiency, and low cost. The circuit comprises an operational amplifier at the front end, a peripheral circuit of the operational amplifier and a peak envelope detector, wherein the peak envelope detector comprises a diode arranged at the front end and an RC low-pass filter arranged at the rear end. The operational amplifier is also a texas instrument current feedback type operational amplifier (OPA4684), wherein R6 is 800 Ω, R7 is 20 Ω, and the amplification factor is 41 times, and the output impedance R7 is 100 Ω. The unidirectional conduction voltage of the diode enables the capacitor to be charged and discharged, and the diode is a key component for peak envelope detection. The RC low pass filter has two functions: on one hand, for low-frequency signals (vibration, sliding, cyclic force and other information) of the touch sensor, the capacitive reactance of the capacitor C2 and the capacitor C2 are equivalent to open circuits, the resistor R9 serves as a detection load, and output low-frequency demodulation voltage is generated at two ends of the detection load; on the other hand, with respect to a signal (carrier signal) from the high-frequency excitation source, the capacitance of the capacitor C2 and the capacitance C2 correspond to a short circuit, and function as a bypass for a high-frequency current, that is, filter out a high-frequency signal.
The frequency of the high-frequency signal is 1-10 MHz, and in order to enable the envelope detector to work normally and avoid distortion, C2 is 0.01 muF, and R9 is 91K omega. The detector can ensure that the output high-frequency ripple is small, and can detect the vibration signal of the sensor under 150 Hz.
When the sensor is under static load, the output signal may be negatively biased. Negative bias can present the following hazards: firstly, the negative bias can cause the amplitude of the output of the detector to be reduced, and the measuring range of the sensor is reduced; secondly, the diode cannot be conducted due to too large negative bias, so that the detection circuit cannot work normally and cannot obtain the amplitude. In order to solve this problem, the present embodiment applies a forward bias between the amplifier and the detector for signal processing, so as to raise the signal output by the amplifier as a whole. The method does not affect the output of the operational amplifier, and can ensure the normal work of the detection circuit for undersize signals.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. A flexible touch sensor based on the transformer principle is characterized in that a sensing unit of the sensor comprises a sensitive layer (10), a signal conversion layer (20) and an electromagnetic shielding layer (6) which are sequentially arranged from top to bottom;
the sensitive layer (10) comprises an elastomer (2) and a sensitive sheet (1) embedded in the middle of the elastomer (2); a cavity is formed in the middle of the bottom of the elastic body (2), an inverted cone structure is arranged in the cavity, the tip of a cone of the inverted cone structure is in contact with the signal conversion layer (20), and the top of the elastic body (2) is of a convex hemispherical structure; the sensitive sheet (1) adopts a magnetic conductive sensitive sheet or a conductive sensitive sheet;
the signal conversion layer (20) comprises a primary coil (3), a secondary coil (4) and a substrate (5); the primary coil (3) and the secondary coil (4) are wrapped in the substrate (5), the primary coil (3) is arranged on the lower layer, and the secondary coil (4) is arranged on the upper layer;
the electromagnetic shielding layer (6) is arranged at the bottom of the signal conversion layer (20);
the sine excitation voltage is input into the primary coil (3), the secondary coil (4) outputs induction voltage, when the sensing unit is subjected to contact external force, the sensitive sheet (1) embedded in the elastic body (2) generates displacement, the magnetic field generated by the sensitive sheet (1) changes the magnetic field around the secondary coil (4) due to the change of the position, and further the amplitude of the induction voltage output by the secondary coil (4) changes.
2. A flexible tactile sensor based on transformer principle according to claim 1, characterized in that the sensitive layer (10) and the signal conversion layer (20) are glued together by means of an adhesive.
3. A flexible tactile sensor based on transformer principle according to claim 1, characterized in that the sensing units form a sensor array with 3 x 3, and the spacing between the sensing units is 5.3 mm.
4. A transformer principle based flexible tactile sensor according to claim 1, characterized in that the electromagnetic shielding layer (6) is a double layer electromagnetic shielding sheet formed by a conductive magnetic shielding sheet and a conductive shielding sheet.
5. A transformer principle based flexible tactile sensor according to claim 1, characterized in that the primary coil (3), the secondary coil (4) and the substrate (5) are made into a flexible PCB using a flexible circuit board process.
6. A flexible tactile detection system based on a flexible tactile sensor, the detection system being implemented based on the flexible tactile sensor of claim 1, characterized in that the detection system comprises a flexible tactile sensor and a data acquisition system;
the data acquisition system comprises an excitation source, a signal processing module and a data acquisition module;
the excitation source comprises a wave generator and an operational amplifier, and an excitation signal generated by the wave generator is output to a primary coil (3) of the flexible touch sensor through the operational amplifier;
the signal processing module comprises an operational amplifier and a peak envelope detector, the operational amplifier amplifies the induction voltage output by the secondary coil (4) in the flexible touch sensor and outputs the amplified induction voltage to the peak envelope detector, and the peak envelope detector detects the amplitude of the induction voltage;
the data acquisition module comprises a data acquisition card and an upper computer, the amplitude value obtained by the detection of the peak envelope detector is acquired by the data acquisition card and then output to the upper computer, and the upper computer stores and displays the data.
7. A flexible tactile detection system based on a flexible tactile sensor according to claim 6, characterized in that the number of operational amplifiers in the excitation source corresponds to the number of primary coils (3) in the flexible tactile sensor;
the number of operational amplifiers in the signal processing module corresponds to the number of secondary coils (4) in the flexible tactile sensor.
8. A flexible tactile detection system based on a flexible tactile sensor according to claim 6, wherein the peripheral circuit of the operational amplifier of the excitation source comprises: resistors R1-R3 and a capacitor C1;
an excitation signal output end generated by the wave generator is simultaneously connected with a non-inverting input end of the operational amplifier and one end of the resistor R1, the other end of the resistor R1 is connected with GND, an inverting input end of the operational amplifier is simultaneously connected with one end of the resistor R2 and one end of the resistor R3, the other end of the resistor R3 is connected with the output end of the operational amplifier, the other end of the resistor R2 is connected with GND, the output end of the operational amplifier is connected with a primary coil (3) of the flexible tactile sensor, and the capacitor C1 is connected with the primary coil (3.
9. The flexible tactile sensor-based flexible tactile detection system according to claim 8, wherein R1 is 50 Ω, R2 is 500 Ω, and R3 is 800 Ω;
according to
Calculating to obtain the capacitance C1: 8nF, where f denotes the excitation frequency 1MHz and L denotes the inductance of the primary coil (3) 3.28 muH.
10. A flexible touch detection system based on flexible touch sensors according to claim 6, wherein said peak envelope detector comprises a diode arranged at the front end and an RC low pass filter arranged at the back end.
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