CN114923518B - Magnetostriction-resistance based composite sensor - Google Patents
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- CN114923518B CN114923518B CN202210526698.5A CN202210526698A CN114923518B CN 114923518 B CN114923518 B CN 114923518B CN 202210526698 A CN202210526698 A CN 202210526698A CN 114923518 B CN114923518 B CN 114923518B
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/28—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures
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Abstract
The invention discloses a magnetostriction-resistance based composite sensor which is formed by integrating a magnetostriction touch sensor and a resistance type sensor, wherein the magnetostriction touch sensor is used for identifying hardness and shape of an object, and the resistance type sensor is used for measuring the size of the object. According to the invention, more tactile information can be obtained, and errors are reduced, so that accurate identification and classification of objects are realized. The composite sensor accurately identifies and classifies the shapes, hardness and sizes of different objects according to the change of output voltage.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a magnetostriction-resistance based composite sensor.
Background
In recent years, with the development of artificial intelligence technology, exploration of precise operation of robots is an important direction of future research. The development of robots is not separated from the research of vision and touch, the vision can sense the appearance and the color of an object, and the touch can acquire various information such as hardness, shape, size, temperature and the like of the surface of the object. The robot can be helped to stably, accurately and reliably grasp the object through object identification. The touch sense is an important way for people to sense the external environment, the touch sense sensor can sense and detect various contact force, temperature, humidity, vibration, material, hardness and other characteristics in the environment,plays an important role in the fine operations such as stability analysis, grabbing and classifying of the robot. According to the different conversion and detection principles of the external stimulus signal, the tactile sensor can be mainly divided into: piezoresistive, capacitive, piezoelectric and electromagnetic tactile sensors. The piezoresistive sensor has large volume and high power consumption and is easily influenced by the outside; the capacitance sensor has small output power and poor stability; the piezoelectric sensor has poor thermal stability and weak direct current response; with the development of the theory of touch sensing and magnetic materials, new magnetostrictive touch sensors have been developed. Iron-gallium alloys (also known as Galfenol, the main component (Fe 83 Ga 17 ) The magnetostrictive tactile sensor has the advantages of high tensile strength, good ductility, large magnetostriction, high electromechanical coupling efficiency and the like, and has high sensitivity, high reaction speed and excellent dynamic characteristics, and is widely applied. The magnetostrictive sensor circuit has the advantages of simple structure, high sensitivity, high reaction speed and excellent dynamic characteristics, and can realize the precise operation of the manipulator. Because the information detected by a single sensor is relatively coarse, the measured data are less, and accurate measurement of the test object cannot be performed. In order to reduce errors and realize accurate identification and classification of objects, a magnetostrictive-resistive composite sensor is needed.
Disclosure of Invention
The invention aims to design a magnetostriction-resistance composite sensor to acquire more tactile information and reduce errors, so that accurate identification and classification of objects are realized. The composite sensor accurately identifies and classifies the shapes, hardness and sizes of different objects according to the change of output voltage.
The technical scheme adopted by the invention is as follows:
a magnetostriction-resistance based composite sensor is formed by integrating a magnetostriction touch sensor and a resistance type sensor, wherein the magnetostriction touch sensor is used for identifying the hardness and shape of an object, and the resistance type sensor is used for measuring the size of the object;
the magnetostrictive tactile sensor comprises an array formed by a plurality of sensing units, the sensing units comprise iron gallium wires, permanent magnets, a TMR sensor, contacts and a base, the iron gallium wires are fixed on the base, the permanent magnets are placed on the upper side of the base, the TMR sensor is used as a signal acquisition unit and is arranged on the base to sense the change of surrounding magnetic fields and generate output voltage, the contacts are used as force transmission elements and are fixed at the top ends of the iron gallium wires, one ends of the iron gallium wires are connected with the TMR sensor, the other ends of the contact are connected with the contacts, the iron gallium wires are stressed and deformed by the force applied to the contacts in the vertical direction, the permanent magnets provide bias magnetic fields for the sensing units, the magnetic domains in the iron gallium wires deflect according to the inverse magnetostrictive effect, the magnetic induction intensity is changed, and the TMR sensor detects the change of the magnetic induction intensity in the iron gallium wires and outputs the magnetic induction intensity in the form of voltage signals;
the resistance type sensor comprises a sensing area, a sensing module and a microcontroller, wherein the sensing area is formed by a resistor strip and used for identifying curvature, the sensing module comprises a regulating circuit and an amplifying circuit, the regulating circuit converts resistance into analog signals, the amplifying circuit amplifies the analog signals, and the amplified analog signals are processed by the microcontroller.
As a preferable technical scheme, the TMR sensor is embedded in a groove at the lower left side of the base side wall.
As an optimal technical scheme, the three sensing units are arranged and form a 1 multiplied by 3 array so as to test the touch information of three different contact points simultaneously, identify the hardness of an object according to the difference of output voltages and identify the shape of the object according to the change of the output voltages respectively corresponding to the three sensing units.
As the preferable technical scheme, the base is of an L-shaped structure, two through holes are formed in the side wall of the base, and grooves are formed in the top end and the left lower end of the side wall of the base so as to place the permanent magnet and the TMR sensor.
As an optimal technical scheme, one end of the iron gallium wire is connected with the TMR sensor through a through hole arranged on the side wall of the base.
As a preferable technical scheme, the magnetostrictive tactile sensor further comprises a printed circuit board, wherein the printed circuit board comprises three connecting units and eight output ends, the connecting units comprise five bonding pads, namely a VCC bonding pad, an NA bonding pad, a GND bonding pad, a SIG1 bonding pad and a SIG2 bonding pad, the five pins of the TMR sensor are respectively welded with the five bonding pads, and the VCC bonding pads of the three connecting units are connected with the first output end; the GND pads of the three connecting units are connected and then connected with the second output end; the SIG1 pads and the SIG2 pads of the three connection units are sequentially connected to the second to eighth output terminals.
As a preferred technical solution, the microcontroller receives and processes the amplified analog signal through the I/O port.
As a preferable technical scheme, the sensing area is 70-80mm long and 6-6.5mm wide.
As a preferable technical scheme, the sensing module is 40-45mm long and 10-15mm wide.
As the preferable technical scheme, the permanent magnet is rectangular, has the length of 2-5mm, the width of 1-1.2mm and the thickness of 0.3-0.9mm, and is made of rubidium-iron-boron.
The invention has the following advantages:
1. the iron gallium wire is used as a force sensing element, and based on the piezomagnetic effect, the pressure signal is converted into the voltage signal through the TMR sensor, so that accurate measurement of force can be realized. Experiments show that the magnetostrictive tactile sensor has higher sensitivity, good real-time performance and excellent dynamic performance.
2. The resistance of the resistance sensor changes along with the bending degree of the strip-shaped sensing area, and the curvature information of an object can be obtained in the grabbing process. The method is characterized by high resolution, flexibility, durability, light weight, wireless transmission and the like, and can be used for acquiring and identifying the touch information of the robot.
3. And a sensor array is made of a sensing unit taking the iron gallium wire as a force sensing element. The sensor array is provided with 3 sensing units to form a 1 multiplied by 3 array, can test the touch information of 3 different contact points at the same time, can identify the hardness of an object according to different output voltages, and can distinguish the shape of the object according to the change of the output voltages respectively corresponding to the three sensing units. The resistance type sensor acquires the curvature information of the object, outputs a voltage signal, measures the size of the object, and combines the two sensors to accurately identify the surface information of the object.
4. The permanent magnet adopts an embedded structure, so that the sensor is convenient to install, the permanent magnet is arranged on the upper side of the fixed end of the cantilever beam, a uniform bias magnetic field is provided in a TMR detection area, and the detection precision is improved.
5. And a plurality of sensing units are integrated on the printed circuit board, so that the number of outgoing lines of the signal lines is reduced, and the reliability and the service life of the sensor are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 illustrates a perspective view of an array based on a magnetostrictive-resistive composite sensor according to an embodiment of the invention;
FIG. 2 illustrates a perspective view of a sensing unit based on a magnetostrictive-resistive composite sensor according to an embodiment of the invention;
FIG. 3 illustrates a perspective view of a contact of a sensing unit based on a magnetostrictive-resistive composite sensor according to an embodiment of the invention;
FIG. 4 illustrates a perspective view of a base of a sensing unit based on a magnetostrictive-resistive composite sensor according to an embodiment of the invention;
FIG. 5 illustrates a top view of a circuit board of a sensing unit based on a magnetostrictive-resistive composite sensor according to an embodiment of the invention;
FIG. 6 illustrates a block diagram of a resistive sensor based on a magnetostrictive-resistive composite sensor in accordance with an embodiment of the invention;
FIG. 7 is a graph showing the relationship between output voltage and pressure of an iron-gallium wire having an effective length of 10mm and a diameter of 0.5mm in the range of 0-4N according to an embodiment of the invention;
FIG. 8 shows a graph of iron-gallium-wire dynamics of effective length 10mm and diameter 0.5mm, wherein (a) represents the sequential application of different magnitudes of pressure to the sensor with a digital push-pull meter, maintaining the output voltage after 2 seconds and removal as a function of time, and (b) represents the application of a periodic load of 1N to the tactile sensor as a function of time;
FIG. 9 shows a graph of resistance, voltage and angle according to an embodiment of the invention;
fig. 10 shows a schematic diagram of the output voltage of the magnetostrictive-resistive composite sensor over time when the manipulator grabs six objects according to an embodiment of the invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples.
The embodiment of the invention provides a magnetostriction-resistance based composite sensor, which is formed by integrating a magnetostriction touch sensor and a resistance type sensor, wherein the magnetostriction touch sensor is used for identifying the hardness and shape of an object, and the resistance type sensor is used for measuring the size of the object.
Referring to fig. 1, the magnetostrictive tactile sensor is formed into a 1×3 array by 3 sensing units. Identified in fig. 1 as cell 1, cell 2 and cell 3, respectively. It should be noted that the embodiment of the present invention is merely an example, and the number of the sensing units may be reasonably selected to be plural according to actual needs, including but not limited to three as exemplified in the embodiment of the present invention. For example, two, four, six, twelve, etc. The embodiment of the present invention does not particularly limit the specific number of sensing units.
As shown in fig. 2, each sensing unit is mainly composed of five parts of a permanent magnet 1, a iron-gallium wire 2, a contact 3, a base 4 and a TMR sensor 5.
Specifically, the permanent magnet 1 is rectangular, has a length of 4mm, a width of 1.1mm, and a thickness of 0.6mm, and is made of rubidium-iron-boron (NdFeB). The iron gallium wire 2 is placed on the upper side of the base 4, and the magnetizing directions are all X-axis directions, so that a uniform bias magnetic field is provided for the iron gallium wire 2.
The iron-gallium wire 2 has a length of 10mm and a diameter of 0.5mm, one end of the iron-gallium wire is fixed in a through hole of the base and connected with the TMR sensor 5, and the other end of the iron-gallium wire is connected with the contact 3.
The contact 3 is shown in fig. 3, two circular through holes are punched at the position 0.6mm away from the bottom, the iron gallium wire 2 passes through the through holes, and the contact 3 is used for transmitting pressure to the iron gallium wire 2.
As shown in FIG. 4, the base 4 is in an L-shaped structure, and two through holes with the diameter of 0.5mm and the depth of 1mm are drilled on the side wall. Grooves are formed in the top end and the left lower end of the side wall and are used for placing the permanent magnet 1 and the TMR sensor 5.
The plurality of sensing units can be integrated on the printed circuit board, so that the number of outgoing lines of the signal circuit is reduced, and the reliability and the service life of the sensor are improved. Referring to fig. 5, the printed circuit board 9 is a double-layer circuit board having 3 connection units and 8 output terminals. The 3 connection units are denoted U1, U2 and U3 in fig. 5, respectively, and the 8 outputs are denoted 10-17 in left to right order. Wherein each connection unit consists of 5 bonding pads: VCC pad, NA pad, SIG1 pad, GND pad, SIG2 pad. The 5 pins of the TMR sensor are soldered to the 5 pads in the connection unit, respectively. The VCC bonding pads of the 3 connecting units are connected and then connected with the first output end; the GND pads of the 3 connecting units are connected and then connected with the second output end; the 6 SIG pads are sequentially connected with the 2 nd to 8 th output ends.
Referring to fig. 6, the resistive sensor includes a sensing area 6, a sensing module 7, and a microcontroller 8.
The sensing area 6 is 77mm long and 6.35mm wide and is composed of resistor strips, and curvature is identified.
The sensing module 7 is 43.5mm long and 12.5mm wide, and consists of an adjusting circuit and an amplifying circuit, wherein the adjusting circuit converts the resistor into an analog signal, and the amplifying circuit amplifies the analog signal.
The microcontroller 8 processes the data signal.
According to the magnetostriction-resistance based composite sensor, a relevant experimental platform is built for test and experimental research so as to fully illustrate the feasibility and the progress of the invention. Specific test experiments are shown in examples 1-4 below. It should be noted that the software or protocols in embodiments 1-4 are known in the art.
Example 1: relationship between output voltage and pressure of iron-gallium wire with effective length of 10mm and diameter of 0.5mm in the range of 0-4N
The main purpose of this embodiment is to study the input-output relationship of the sensing unit.
Building an experiment platform: the installed sensor is fixed on an experiment table, a direct-current stabilized power supply is used as a power supply, a digital display push-pull force meter applies static force to a sensing unit, and voltage signals output by the magnetostrictive tactile sensor are collected through a data acquisition device, transmitted to a computer and drawn into corresponding curves.
Experimental procedure and results: the S1-S6 output ports of the sensor circuit board are connected to a data acquisition card, the acquisition card is connected with a computer, and data are read through the computer. The VCC and GND ports of the sensor circuit board are connected with a direct-current stabilized power supply, the VCC port is connected with 1V direct-current voltage, and the GND port is grounded. The digital display push-pull force meter applies a static force of 0-4N to the sensing unit to cause deformation of the iron-gallium wire. The permanent magnet provides a bias magnetic field H, and under the bias magnetic field strength of 830Gs, the relation curve between the output voltage and the pressure of the sensing unit manufactured by the iron gallium wire with the effective length of 10mm and the diameter of 0.5mm is shown in figure 7, and the figure 7 shows that the experimental value is basically consistent with the theoretical value. The result shows that the output voltage of the sensing unit increases along with the increase of the pressure, the output voltage of the sensor and the pressure are in a linear relation within 0-3N, the maximum sensitivity is 248.8mV/N, and the output voltage changes smoothly when the pressure is more than 3N.
Example 2: effective length 10mm and diameter 0.5mm iron gallium wire dynamic characteristics
The main purpose of this embodiment is to study the dynamic characteristics of the sensing unit.
Building an experiment platform: the installed sensor is fixed on an experiment table, a direct-current stabilized power supply is used as a power supply, different forces are applied to the sensing unit by the digital display push-pull force meter, and voltage signals output by the magnetostrictive tactile sensor are collected through the data acquisition device, transmitted to the computer and drawn into corresponding curves.
Experimental procedure and results: the sensors were sequentially pressurized with different magnitudes with a digital push-pull meter for 2 seconds and removed, as shown in fig. 8 (a), with a minimum perceptible static force of 0.1N for the sensing unit and an output voltage of 24.8mV.
As shown in (b) of fig. 8, a periodic load of 1N was applied to the tactile sensor, and the sensor output voltage exhibited good uniformity in the repeated cycling experiment. Through the experiment, the magnetostrictive tactile sensor is verified to have higher sensitivity, good real-time performance and excellent dynamic performance.
Example 3: relation between resistance, voltage and bending of resistive sensor
Building an experiment platform: the installed sensor is fixed on the manipulator, the direct-current stabilized power supply is used as a power supply, the manipulator is controlled to bend within the range of 0-100 degrees, voltage signals output by the resistance sensor are collected through the data acquisition device, and the voltage signals are transmitted to the computer and drawn into corresponding curves.
Experimental procedure and results: the manipulator performs repeated bending experiments on the sensor within the range of 0-100 degrees (step length of 10 degrees), and collects data to obtain the relation among the resistance, the voltage and the angle as shown in fig. 9. In the grabbing process, the curvature, resistance and voltage of the sensor change linearly.
Example 4:
the manipulator provided by the invention is integrated on the control surface to respectively press 6 objects, so that the objects can be accurately identified and classified. The experimental platform consists of a three-finger manipulator (RightHand Robotics), a direct-current stabilized power supply, a data acquisition card and a PC computer. In the experimental process, the output ends of the two sensors are connected to a data acquisition card, the acquisition card inputs the acquired voltage signals into a computer, and corresponding curves are drawn through the computer.
The output voltage of the magnetostrictive-resistive composite sensor when the manipulator grabs six objects is shown in fig. 10. The output voltage of the magnetostrictive tactile sensor is U 1 The hardness of the object can be reflected; the sensing units 1, 2 and 3 are different in contact with the object, and the output voltages are also different to reflect the shape of the object; output voltage U of resistance sensor 2 The size of the object can be reflected. Through the information of 3 objects of softness, shape and size, the 6 objects of plastic blocks, soft rubber blocks, big oranges, small oranges, wood sticks and wood blocks are accurately identified and classified.
The above embodiments are only for illustrating the present invention, not for limiting the present invention, and various changes and modifications may be made by one of ordinary skill in the relevant art without departing from the spirit and scope of the present invention, and therefore, all equivalent technical solutions are also within the scope of the present invention, and the scope of the present invention is defined by the claims.
Claims (10)
1. A magnetostrictive-resistive composite sensor, characterized by: the magnetostrictive-resistive composite sensor is formed by integrating a magnetostrictive tactile sensor and a resistive sensor, wherein the magnetostrictive tactile sensor is used for identifying the hardness and shape of an object, and the resistive sensor is used for measuring the size of the object;
the magnetostrictive tactile sensor comprises an array formed by a plurality of sensing units, the sensing units comprise iron gallium wires, permanent magnets, a TMR sensor, contacts and a base, the iron gallium wires are fixed on the base, the permanent magnets are placed on the upper side of the base, the TMR sensor is used as a signal acquisition unit and is arranged on the base to sense the change of surrounding magnetic fields and generate output voltage, the contacts are used as force transmission elements and are fixed at the top ends of the iron gallium wires, one ends of the iron gallium wires are connected with the TMR sensor, the other ends of the contact are connected with the contacts, the iron gallium wires are stressed and deformed by the force applied to the contacts in the vertical direction, the permanent magnets provide bias magnetic fields for the sensing units, the magnetic domains in the iron gallium wires deflect according to the inverse magnetostrictive effect, the magnetic induction intensity is changed, and the TMR sensor detects the change of the magnetic induction intensity in the iron gallium wires and outputs the magnetic induction intensity in the form of voltage signals;
the resistance type sensor comprises a sensing area, a sensing module and a microcontroller, wherein the sensing area is formed by a resistor strip and used for identifying curvature, the sensing module comprises a regulating circuit and an amplifying circuit, the regulating circuit converts resistance into analog signals, the amplifying circuit amplifies the analog signals, and the amplified analog signals are processed by the microcontroller.
2. A magnetostrictive-resistive based composite sensor according to claim 1, wherein: the TMR sensor is embedded in a recess in the lower left of the base sidewall.
3. A magnetostrictive-resistive based composite sensor according to claim 1, wherein: the sensing units are arranged in three and form a 1 multiplied by 3 array so as to test the touch information of three different contact points simultaneously, identify the hardness of an object according to the difference of output voltages, and identify the shape of the object according to the change of the output voltages respectively corresponding to the three sensing units.
4. A magnetostrictive-resistive based composite sensor according to claim 1, wherein: the base is L-shaped, two through holes are formed in the side wall of the base, grooves are formed in the top end and the left lower end of the side wall of the base, and the permanent magnet and the TMR sensor are placed on the grooves.
5. The magnetostrictive-resistive based composite sensor according to claim 4, wherein: one end of the iron gallium wire is connected with the TMR sensor through a through hole arranged on the side wall of the base.
6. A magnetostrictive-resistive based composite sensor according to claim 1, wherein: the magnetostrictive tactile sensor further comprises a printed circuit board, wherein the printed circuit board comprises three connecting units and eight output ends, the connecting units comprise five bonding pads, namely a VCC bonding pad, an NA bonding pad, a GND bonding pad, a SIG1 bonding pad and a SIG2 bonding pad, the five pins of the TMR sensor are respectively welded with the five bonding pads, and the VCC bonding pads of the three connecting units are connected with the first output end; the GND pads of the three connecting units are connected and then connected with the second output end; the SIG1 pads and the SIG2 pads of the three connection units are sequentially connected to the second to eighth output terminals.
7. A magnetostrictive-resistive based composite sensor according to claim 1, wherein: the microcontroller receives and processes the amplified analog signals through the I/O ports.
8. A magnetostrictive-resistive based composite sensor according to claim 1, wherein: the sensing area is 70-80mm long and 6-6.5mm wide.
9. A magnetostrictive-resistive based composite sensor according to claim 1, wherein: the sensing module is 40-45mm long and 10-15mm wide.
10. A magnetostrictive-resistive based composite sensor according to claim 1, wherein: the permanent magnet is rectangular, has a length of 2-5mm, a width of 1-1.2mm and a thickness of 0.3-0.9mm, and is made of rubidium-iron-boron.
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