CN113721515A - Active safety device of mechanical arm and safety control method thereof - Google Patents
Active safety device of mechanical arm and safety control method thereof Download PDFInfo
- Publication number
- CN113721515A CN113721515A CN202111005428.1A CN202111005428A CN113721515A CN 113721515 A CN113721515 A CN 113721515A CN 202111005428 A CN202111005428 A CN 202111005428A CN 113721515 A CN113721515 A CN 113721515A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- acquisition module
- touch
- controller
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000009471 action Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 230000006872 improvement Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000015541 sensory perception of touch Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an active safety device of a mechanical arm and a safety control method thereof, belonging to the technical field of active safety devices of mechanical arms; the technical problem to be solved is as follows: the improvement of the hardware structure of the active safety device of the mechanical arm is provided; the technical scheme for solving the technical problems is as follows: the device comprises a controller, a mechanical arm, an upper computer and an electronic skin, wherein the controller is respectively connected with a control module of the mechanical arm and the upper computer through leads; the electronic skin comprises a proximity sense acquisition module and a plurality of touch acquisition modules, wherein a controller serves as a master station, the proximity sense acquisition module and the touch acquisition modules serve as slave stations, the master station and the slave stations are communicated through a CAN bus, and the controller controls a mechanical arm to execute different actions according to the distance value between the mechanical arm and an obstacle fed back by the proximity sense acquisition module and the collision force of the mechanical arm fed back by the touch acquisition module; the invention is applied to mechanical arms.
Description
Technical Field
The invention discloses an active safety device of a mechanical arm and a safety control method thereof, and belongs to the technical field of active safety of mechanical arms.
Background
With the rapid development of science and technology, the variety and the number of the mechanical arms are continuously increased, the functions are expanded, the performance is improved, the application field is wider, the manufacturing industry is expanded to the non-manufacturing industry, and even the medical treatment, service and rehabilitation fields are expanded, so the safety problem of the use of the mechanical arms is particularly important.
In the operation process of the mechanical arm, operators are inevitably on site, and in consideration of the safety problem of the operators, most of the existing mechanical arms adopt a physical isolation method of dividing areas by guardrails, so that the method consumes materials and occupies large space; there are some vision-based safety protection methods, which have a certain limit to the operation speed of the robot arm, thereby reducing the working efficiency of the robot arm. Therefore, the invention provides the active safety device of the mechanical arm and the safety control method thereof, which can well solve the potential safety hazards and improve the safety of people and the working efficiency of the mechanical arm.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to solve the technical problems that: an improvement of the hardware structure of the active safety device of the mechanical arm is provided.
In order to solve the technical problems, the invention adopts the technical scheme that: an active safety device of a mechanical arm comprises a controller, the mechanical arm, an upper computer and an electronic skin, wherein the electronic skin is arranged on the mechanical arm;
the controller is respectively connected with the control module and the upper computer of the mechanical arm through leads;
the electronic skin comprises a proximity sense acquisition module and a plurality of touch acquisition modules, wherein a controller serves as a master station, the proximity sense acquisition module and the touch acquisition modules serve as slave stations, communication is carried out between the master station and the slave stations through a CAN bus, and the controller controls the mechanical arm to execute different actions according to the distance value between the mechanical arm and an obstacle fed back by the proximity sense acquisition module and the size of the collision force of the mechanical arm fed back by the touch acquisition module.
The proximity sense acquisition module comprises a proximity sense controller and a plurality of laser ranging sensors, the proximity sense controller is connected with the plurality of laser ranging sensors through an I2C bus, I2C addresses of the plurality of laser ranging sensors are sequentially set, distance measurement information fed back by the sensors is received through an I2C bus, acquired distance information is sent to the proximity sense controller, and the proximity sense controller sends the acquired distance information to an upper computer for display.
The touch sense acquisition module comprises a touch sense controller and a flexible film pressure sensor array, and the resistance value of the flexible film pressure sensor is reduced along with the increase of the pressure value;
the flexible film pressure sensor array is subjected to array scanning through the multichannel multiplexing switch, then voltage division is carried out through one resistor, finally voltage values at two ends of the voltage division resistor are obtained through the A/D acquisition circuit, the acquired voltage values are sent to the touch controller, and the touch controller transmits the voltage values to the upper computer for display.
An active safety control method of a mechanical arm comprises the following steps:
the method comprises the following steps: the controller controls the mechanical arm to start to run according to normal speed, and meanwhile, the approach sense acquisition module starts to acquire the distance d between the mechanical arm and the barrier;
step two: the controller controls the operation condition of the mechanical arm according to the acquired distance d, and when the acquired distance value d is larger than a set value, the mechanical arm still operates at a normal speed;
when the collected distance value d is smaller than a set value, the mechanical arm starts to run in a decelerating mode, and the running speed of the mechanical arm is reduced along with the reduction of the detection distance;
when the acquired distance value d is smaller than the minimum set value, the running speed of the mechanical arm is reduced to 5% -20% of the normal speed, and the touch sense acquisition module acquires the distance value d;
step three: the controller controls the operation of the mechanical arm according to the magnitude of the collision force acquired by the touch acquisition module, and when the collision force acquired by the touch acquisition module is 0N, the mechanical arm continues to execute the previous action;
when the collision force acquired by the touch acquisition module is greater than 0N and smaller than a set value, the mechanical arm responds: keeping away from the collision detection point and replanning the motion trail;
when the collision force acquired by the touch acquisition module is greater than or equal to a set value, the mechanical arm stops moving.
The proximity perception acquisition module adopts a laser ranging sensor, and the distance d = t × c/2 between the mechanical arm and the obstacle is calculated by calculating the time t from the emitter to the receiver of the laser.
The touch acquisition module mainly comprises a touch controller, a flexible film pressure sensor, a multiplexer and a divider resistor R; after the touch acquisition module is electrified, the resistance value of the flexible film pressure sensor is equivalent to Rs; the flexible film pressure sensor array is scanned through the multiplexing switch, then the voltage value V = Vcc R/(R + Rs) at two ends of the divider resistor is calculated through the voltage dividing circuit, and the voltage value is sent to the touch controller through the amplifying circuit and the A/D collecting circuit, wherein Vcc is input voltage.
Compared with the prior art, the invention has the beneficial effects that: the active safety device of the mechanical arm has the functions of proximity sense and touch sense acquisition, and can better provide safety guarantee for people; the active safety device is simple to mount on the mechanical arm, simple to control and easy to operate; the active safety device is wide in application range and can be compatible with all mechanical arms.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is a schematic diagram of a module CAN communication structure according to the present invention.
Fig. 3 is a schematic diagram of the proximity capture module of the present invention.
Fig. 4 is a simplified schematic diagram of the equivalent of the resistance of the flexible membrane pressure sensor of the tactile sense acquisition module to Rs.
FIG. 5 is a schematic diagram of a haptic capture module of the present invention.
Fig. 6 is a flowchart of an embodiment of an active safety control method of the present invention.
Detailed Description
As shown in fig. 1 to 6, the active safety device of a robot arm of the present invention includes a controller, a robot arm, an upper computer, and an electronic skin, wherein the electronic skin is disposed on the robot arm;
the controller is respectively connected with the control module and the upper computer of the mechanical arm through leads;
the electronic skin comprises a proximity sense acquisition module and a plurality of touch acquisition modules, wherein a controller serves as a master station, the proximity sense acquisition module and the touch acquisition modules serve as slave stations, communication is carried out between the master station and the slave stations through a CAN bus, and the controller controls the mechanical arm to execute different actions according to the distance value between the mechanical arm and an obstacle fed back by the proximity sense acquisition module and the size of the collision force of the mechanical arm fed back by the touch acquisition module.
The proximity sense acquisition module comprises a proximity sense controller and a plurality of laser ranging sensors, the proximity sense controller is connected with the plurality of laser ranging sensors through an I2C bus, I2C addresses of the plurality of laser ranging sensors are sequentially set, distance measurement information fed back by the sensors is received through an I2C bus, acquired distance information is sent to the proximity sense controller, and the proximity sense controller sends the acquired distance information to an upper computer for display.
The touch sense acquisition module comprises a touch sense controller and a flexible film pressure sensor array, and the resistance value of the flexible film pressure sensor is reduced along with the increase of the pressure value;
the flexible film pressure sensor array is subjected to array scanning through the multichannel multiplexing switch, then voltage division is carried out through one resistor, finally voltage values at two ends of the voltage division resistor are obtained through the A/D acquisition circuit, the acquired voltage values are sent to the touch controller, and the touch controller transmits the voltage values to the upper computer for display.
An active safety control method of a mechanical arm comprises the following steps:
the method comprises the following steps: the controller controls the mechanical arm to start to run according to normal speed, and meanwhile, the approach sense acquisition module starts to acquire the distance d between the mechanical arm and the barrier;
step two: the controller controls the operation condition of the mechanical arm according to the acquired distance d, and when the acquired distance value d is larger than a set value, the mechanical arm still operates at a normal speed;
when the collected distance value d is smaller than a set value, the mechanical arm starts to run in a decelerating mode, and the running speed of the mechanical arm is reduced along with the reduction of the detection distance;
when the acquired distance value d is smaller than the minimum set value, the running speed of the mechanical arm is reduced to 5% -20% of the normal speed, and the touch sense acquisition module acquires the distance value d;
step three: the controller controls the operation of the mechanical arm according to the magnitude of the collision force acquired by the touch acquisition module, and when the collision force acquired by the touch acquisition module is 0N, the mechanical arm continues to execute the previous action;
when the collision force acquired by the touch acquisition module is greater than 0N and smaller than a set value, the mechanical arm responds: keeping away from the collision detection point and replanning the motion trail;
when the collision force acquired by the touch acquisition module is greater than or equal to a set value, the mechanical arm stops moving.
The proximity perception acquisition module adopts a laser ranging sensor, and the distance d = t × c/2 between the mechanical arm and the obstacle is calculated by calculating the time t from the emitter to the receiver of the laser.
The touch acquisition module mainly comprises a touch controller, a flexible film pressure sensor, a multiplexer and a divider resistor R; after the touch acquisition module is electrified, the resistance value of the flexible film pressure sensor is equivalent to Rs; the flexible film pressure sensor array is scanned through the multiplexing switch, then the voltage value V = Vcc R/(R + Rs) at two ends of the divider resistor is calculated through the voltage dividing circuit, and the voltage value is sent to the touch controller through the amplifying circuit and the A/D collecting circuit, wherein Vcc is input voltage.
The invention provides an active safety device of a mechanical arm and a safety control method thereof, aiming at solving the problems of human safety and the like when people coexist with the mechanical arm.
The active safety device of the mechanical arm adopts the following technical scheme:
the active safety device adopts a modular design, and all modules are connected through a CAN bus and comprise a mechanical arm, an upper computer, a controller and an electronic skin; the electronic skin consists of a touch sense acquisition module and a proximity sense acquisition module; the controller is respectively connected with the electronic skin, the upper computer and the mechanical arm. The device comprises a controller, a touch sense acquisition module, a proximity sense acquisition module and an upper computer; the controller is a master station; the touch sense acquisition module and the approach sense acquisition module are slave stations, and the upper computer is connected with the controller. The controller adopts STM32F103ZET6 model ARM as the core chip, is supplied power by 5V. The CAN control chip selects JTA1042T/3 high-speed CAN transceiver.
The touch sensing module of the invention uses an array of flexible film pressure sensors, the resistance value of which decreases with increasing pressure value. The flexible film pressure sensor array is subjected to array scanning through an 8-channel multiplexing switch RS2251, then voltage division is carried out through a resistor with the resistance value of 1K, and finally voltage values at two ends of the voltage division resistor are obtained through an A/D acquisition circuit and the acquired voltage values are sent to an upper computer to be displayed. An ARM model STM32F103ZET6 is adopted as a main control chip of the touch controller.
The proximity acquisition module of the present invention uses the currently smallest laser ranging sensor VL53L0X, manufactured by the minuscule semiconductor corporation, which is mainly composed of a laser transmitter and receiver. The laser ranging sensor VL53L0X supports an I2C bus protocol, in order to reduce the wiring number, a plurality of laser ranging sensors are connected together through an I2C bus, STM32F103ZET6 is used as a main control chip of a proximity controller, I2C addresses of the ranging sensors are sequentially set, then distance measurement information fed back by the sensors is received through an I2C bus, and the acquired distance information is sent to an upper computer for display.
The active safety control method of the mechanical arm comprises the following steps:
the mechanical arm starts to run at normal speed, the approach sensing acquisition module starts to acquire the distance between the mechanical arm and the obstacle, and when the acquired distance value is larger than 200mm, the mechanical arm still runs at normal speed; when the acquired distance value is less than 200mm, the mechanical arm starts to run in a decelerating way, and the running speed of the mechanical arm is reduced along with the reduction of the detection distance; when the collected distance value is less than 20mm, the operation speed of the mechanical arm is reduced to 10% of the normal speed. At the moment, the touch acquisition module acquires the collision force, and when the collision force acquired by the touch acquisition module is 0N, the mechanical arm continues to execute the previous action; when the collision force acquired by the touch acquisition module is greater than 0N and less than 7N, the mechanical arm responds: keeping away from the collision detection point and replanning the motion trail; when the collision force collected by the tactile collection module is greater than or equal to 7N, the mechanical arm stops moving, as shown in fig. 6.
The setting of the judgment distance value between the mechanical arm and the obstacle is adjusted or modified according to the actual use condition, the setting of the maximum value of the collision force is in accordance with the safety requirement of ISO/TS 15066 on the application of the cooperative robot, and the size of the specific judgment value can be adjusted according to the use condition.
The proximity acquisition module adopts a laser ranging sensor VL53L0X manufactured by semiconductor company, mainly comprises a laser emitter and a laser receiver, and the distance d = t × c/2 is calculated by calculating the time t from the laser emitter to the laser receiver.
The touch acquisition module mainly comprises a flexible film pressure sensor, an 8-channel multiplexing switch RS2251 and a divider resistor R; the resistance value of the flexible film pressure sensor is reduced along with the increase of the pressure, and after the touch acquisition module is electrified, the resistance value of the flexible film pressure sensor is equivalent to Rs; the flexible film pressure sensor array is scanned through the 8-channel multiplexing switch, then the voltage value V = Vcc R/(R + Rs) at two ends of the divider resistor is calculated through the voltage dividing circuit, and the voltage value is transmitted to the touch controller through the amplifying circuit and the A/D acquisition circuit.
It should be noted that, regarding the specific structure of the present invention, the connection relationship between the modules adopted in the present invention is determined and can be realized, except for the specific description in the embodiment, the specific connection relationship can bring the corresponding technical effect, and the technical problem proposed by the present invention is solved on the premise of not depending on the execution of the corresponding software program.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The utility model provides an initiative safety device of arm, includes controller, arm, host computer, electron skin, its characterized in that:
the electronic skin is arranged on the mechanical arm;
the controller is respectively connected with the control module and the upper computer of the mechanical arm through leads;
the electronic skin comprises a proximity sense acquisition module and a plurality of touch acquisition modules, wherein a controller serves as a master station, the proximity sense acquisition module and the touch acquisition modules serve as slave stations, communication is carried out between the master station and the slave stations through a CAN bus, and the controller controls the mechanical arm to execute different actions according to the distance value between the mechanical arm and an obstacle fed back by the proximity sense acquisition module and the size of the collision force of the mechanical arm fed back by the touch acquisition module.
2. The active safety device of a robot arm of claim 1, wherein: the proximity sense acquisition module comprises a proximity sense controller and a plurality of laser ranging sensors, the proximity sense controller is connected with the plurality of laser ranging sensors through an I2C bus, I2C addresses of the plurality of laser ranging sensors are sequentially set, distance measurement information fed back by the sensors is received through an I2C bus, acquired distance information is sent to the proximity sense controller, and the proximity sense controller sends the acquired distance information to an upper computer for display.
3. The active safety device of a robot arm of claim 1, wherein: the touch sense acquisition module comprises a touch sense controller and a flexible film pressure sensor array, and the resistance value of the flexible film pressure sensor is reduced along with the increase of the pressure value;
the flexible film pressure sensor array is subjected to array scanning through the multichannel multiplexing switch, then voltage division is carried out through one resistor, finally voltage values at two ends of the voltage division resistor are obtained through the A/D acquisition circuit, the acquired voltage values are sent to the touch controller, and the touch controller transmits the voltage values to the upper computer for display.
4. An active safety control method of a mechanical arm is characterized in that: the method comprises the following steps:
the method comprises the following steps: the controller controls the mechanical arm to start to run according to normal speed, and meanwhile, the approach sense acquisition module starts to acquire the distance d between the mechanical arm and the barrier;
step two: the controller controls the operation condition of the mechanical arm according to the acquired distance d, and when the acquired distance value d is larger than a set value, the mechanical arm still operates at a normal speed;
when the collected distance value d is smaller than a set value, the mechanical arm starts to run in a decelerating mode, and the running speed of the mechanical arm is reduced along with the reduction of the detection distance;
when the acquired distance value d is smaller than the minimum set value, the running speed of the mechanical arm is reduced to 5% -20% of the normal speed, and the touch sense acquisition module acquires the distance value d;
step three: the controller controls the operation of the mechanical arm according to the magnitude of the collision force acquired by the touch acquisition module, and when the collision force acquired by the touch acquisition module is 0N, the mechanical arm continues to execute the previous action;
when the collision force acquired by the touch acquisition module is greater than 0N and smaller than a set value, the mechanical arm responds: keeping away from the collision detection point and replanning the motion trail;
when the collision force acquired by the touch acquisition module is greater than or equal to a set value, the mechanical arm stops moving.
5. The active safety control method of a robot arm according to claim 4, wherein: the proximity perception acquisition module adopts a laser ranging sensor, and the distance d = t × c/2 between the mechanical arm and the obstacle is calculated by calculating the time t from the emitter to the receiver of the laser.
6. The active safety control method of a robot arm according to claim 4, wherein: the touch acquisition module mainly comprises a touch controller, a flexible film pressure sensor, a multiplexer and a divider resistor R; after the touch acquisition module is electrified, the resistance value of the flexible film pressure sensor is equivalent to Rs; the flexible film pressure sensor array is scanned through the multiplexing switch, then the voltage value V = Vcc R/(R + Rs) at two ends of the divider resistor is calculated through the voltage dividing circuit, and the voltage value is sent to the touch controller through the amplifying circuit and the A/D collecting circuit, wherein Vcc is input voltage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111005428.1A CN113721515A (en) | 2021-08-30 | 2021-08-30 | Active safety device of mechanical arm and safety control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111005428.1A CN113721515A (en) | 2021-08-30 | 2021-08-30 | Active safety device of mechanical arm and safety control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113721515A true CN113721515A (en) | 2021-11-30 |
Family
ID=78679118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111005428.1A Pending CN113721515A (en) | 2021-08-30 | 2021-08-30 | Active safety device of mechanical arm and safety control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113721515A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117067199A (en) * | 2023-07-26 | 2023-11-17 | 睿尔曼智能科技（北京）有限公司 | Mechanical arm electronic skin, mechanical arm and collision detection system thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109163824A (en) * | 2018-10-10 | 2019-01-08 | 北京理工大学 | A kind of flexible electronic skin with tactile and close feel bimodulus perceptional function |
| CN110696000A (en) * | 2019-11-21 | 2020-01-17 | 河北工业大学 | Obstacle avoidance method for mechanical arm heuristic sensing |
| CN111906778A (en) * | 2020-06-24 | 2020-11-10 | 深圳市越疆科技有限公司 | Robot safety control method and device based on multiple perceptions |
| JP2020189359A (en) * | 2019-05-21 | 2020-11-26 | 国立大学法人 東京大学 | Robot hand, control device of robot hand, and robot system |
| CN112549056A (en) * | 2020-12-22 | 2021-03-26 | 途见科技(北京)有限公司 | Electronic skin glove device applied to robot hand |
| CN113183147A (en) * | 2021-03-30 | 2021-07-30 | 苏州大学 | Large-area coverage electronic skin system with remote proximity sense |
| CN113232025A (en) * | 2021-06-07 | 2021-08-10 | 上海大学 | Mechanical arm obstacle avoidance method based on proximity perception |
-
2021
- 2021-08-30 CN CN202111005428.1A patent/CN113721515A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109163824A (en) * | 2018-10-10 | 2019-01-08 | 北京理工大学 | A kind of flexible electronic skin with tactile and close feel bimodulus perceptional function |
| JP2020189359A (en) * | 2019-05-21 | 2020-11-26 | 国立大学法人 東京大学 | Robot hand, control device of robot hand, and robot system |
| CN110696000A (en) * | 2019-11-21 | 2020-01-17 | 河北工业大学 | Obstacle avoidance method for mechanical arm heuristic sensing |
| CN111906778A (en) * | 2020-06-24 | 2020-11-10 | 深圳市越疆科技有限公司 | Robot safety control method and device based on multiple perceptions |
| CN112549056A (en) * | 2020-12-22 | 2021-03-26 | 途见科技(北京)有限公司 | Electronic skin glove device applied to robot hand |
| CN113183147A (en) * | 2021-03-30 | 2021-07-30 | 苏州大学 | Large-area coverage electronic skin system with remote proximity sense |
| CN113232025A (en) * | 2021-06-07 | 2021-08-10 | 上海大学 | Mechanical arm obstacle avoidance method based on proximity perception |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117067199A (en) * | 2023-07-26 | 2023-11-17 | 睿尔曼智能科技（北京）有限公司 | Mechanical arm electronic skin, mechanical arm and collision detection system thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2009151753A3 (en) | Power management using at least one of a special purpose processor and motion sensing | |
| CN113721515A (en) | Active safety device of mechanical arm and safety control method thereof | |
| CN105528883A (en) | Wind velocity and direction wireless acquisition system and method thereof | |
| CN103376441B (en) | Many precision indoor locating system and adopt the localization method of this system | |
| EP4114044A1 (en) | Electronic device positioning method and apparatus, and server, system and storage medium | |
| CN104574749A (en) | Wireless remote-monitoring anti-theft system | |
| CN108920373A (en) | Debugging embedded software system and method | |
| CN202720766U (en) | Intelligent sensor platform based on mobile network | |
| CN201540487U (en) | Handheld operator for maintenance and detection of equipment in marine engine room | |
| CN212825427U (en) | Safety control hardware platform applied to robot control system | |
| CN102572940B (en) | Signal transmitting apparatus, signal receiving apparatus, signal transmitting and receiving system and method thereof | |
| CN201562020U (en) | Multi-contact switch detecting device based on RS485 bus detection method | |
| CN106671082A (en) | Wireless control system of intelligent mobile robot | |
| CN105913684A (en) | Low-power wireless stall detection system and detection method thereof | |
| CN203177952U (en) | On-line weighing system | |
| CN109917919A (en) | A kind of gesture control vehicle intelligent system and its control method | |
| US20230133783A1 (en) | Method for detecting active pen touch position, and electronic terminal | |
| CN101639752B (en) | Method and device for inputting electromagnetic induction scrolling information | |
| CN102969790A (en) | Switch cabinet wireless monitoring system | |
| CN203587997U (en) | Multipath digital value input/output unit | |
| CN103019968A (en) | Control method and device for registering input equipment in input processing instant | |
| CN206296911U (en) | A kind of bus intelligent servo drive system and robot | |
| CN202309744U (en) | Internet based remote data acquisition system | |
| CN105228260A (en) | A kind of aggregation node of wireless sensor network | |
| CN201945965U (en) | Wireless touchpad mouse |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211130 |
|
| RJ01 | Rejection of invention patent application after publication |