CN116277028A - Manipulator grabbing cooperation system and cooperation method for full coverage of electronic skin - Google Patents

Abstract

The application discloses a manipulator grabbing cooperation system and a cooperation method for electronic skin full coverage, wherein the manipulator grabbing cooperation system comprises an array type flexible touch sensor, a touch information acquisition system and a manipulator claw system; the mechanical gripper system comprises a mechanical gripper and a mechanical gripper control module for driving the mechanical gripper; the array type flexible touch sensor is coated on the surface of the mechanical gripper; the touch information acquisition system comprises a touch information acquisition module for acquiring touch information sensing signals from the array type flexible touch sensor, a touch information processing module for processing touch information and a communication module in communication connection with the mechanical gripper system; the outer surface of the mechanical gripper is divided into four functional areas, including an area A on the outer side of the gripper; the touch information of the array type flexible touch sensor in the area A outside the paw is used for detecting collision, so that the contact with the environment and a cooperative object can be better perceived, and hidden danger caused by collision is avoided.

Description

Manipulator grabbing cooperation system and cooperation method for full coverage of electronic skin

Technical Field

The application relates to a manipulator grabbing cooperation system and a cooperation method for electronic skin full coverage, in particular to two-finger manipulator claw cooperation based on a touch sensor, and belongs to the technical field of man-machine cooperation and robots.

Background

With the development of robot technology, robots move into life and work of people, and a large number of scenes needing man-machine cooperation also appear, so that man-machine cooperation is promoted to be a big research hotspot in the current robot field, the man-machine cooperation can finish work with higher quality, and the work efficiency is improved. At present, most manipulators have a dragging teaching and programming operation method, and the two modes mainly depend on space coordinates and movement or rotation angles of joints, so that the operation is complex and visual, and hidden danger exists due to incapability of detecting collision in the operation process.

Disclosure of Invention

The technical problem that this application will solve is that current manipulator can not detect the collision and leads to having the problem of hidden danger at the operation process.

In order to solve the technical problems, the technical scheme of the application is to provide a manipulator grabbing cooperation system with full electronic skin coverage, which is characterized by comprising an array type flexible touch sensor, a touch information acquisition system and a manipulator claw system;

the mechanical gripper system comprises a mechanical gripper and a mechanical gripper control module for driving the mechanical gripper;

the array type flexible touch sensor is coated on the surface of the mechanical gripper;

the touch information acquisition system comprises a touch information acquisition module for acquiring touch information sensing signals from the array type flexible touch sensor, a touch information processing module for processing touch information and a communication module in communication connection with the mechanical gripper system;

the outer surface of the mechanical gripper is divided into four functional areas, including an area A at the outer side of the gripper, an area B at the inner side of the gripper, an area C at the fixed end of the gripper and an area D at the tip of the gripper; the impact is detected by the tactile information of the array-type flexible tactile sensor of the a-zone outside the paw.

Preferably, the area B on the inner side of the paw detects the gripping force of the paw on the gripping targets in the gripping process, corresponding pressure thresholds are set for different gripping targets, and the gripping stopping condition of the paw is set according to the set pressure thresholds.

Preferably, the area A outside the paw detects two actions according to the length of the contact time, the contact condition of the two outsides and the magnitude of the pressure value: one is manual contact to control the closing of the jaws and the other is to detect a collision of the jaws with the operator or the external environment.

Preferably, the C area of the fixed end of the paw detects whether the gripping target is in place or not, and whether the gripping can be started or not.

Preferably, the D area of the gripper tip is used for detecting that the target gripper is not gripped and is closed, and simultaneously preventing the two fingers of the gripper from colliding and squeezing.

Preferably, the array type flexible touch sensor is coated on the surface of the mechanical gripper, is kept to be completely attached to the shell of the mechanical gripper, and is provided with pretightening force. Further, the array type flexible touch sensor is an array formed by m rows and n columns of electrodes, and a dielectric layer is arranged at the intersection point of the rows and the columns to form a capacitance unit; the touch information acquisition module comprises DA conversion, an excitation source, information acquisition and AD conversion, wherein the touch information acquisition module designs the output pin number of the excitation source and the input pin number of the information acquisition according to the resolution and the row-column value of the array type flexible touch sensor, the number of rows of the array type flexible touch sensor corresponds to the output pin number of the excitation source of the touch information acquisition module, and the number of columns of the array type flexible touch sensor corresponds to the input pin number of the touch information acquisition module; the excitation source and AD conversion form a loop through the array type flexible touch sensor, and the touch information of the whole array type flexible touch sensor is acquired by a row-column scanning method.

The application also provides a manipulator grabbing cooperation method for fully covering electronic skin, wherein the electronic skin is set as a touch sensor, the manipulator is set as a manipulator claw, and the touch sensor is coated on the surface of the manipulator claw.

The mechanical gripper moves to the gripping target, the mechanical gripper is in an open state until the C area of the gripper fixing end touches the target, namely, the pressure value of the C area of the gripper fixing end exceeds a set threshold value, the gripper starts to close until the pressure value of the B area on the inner side of the gripper exceeds the set threshold value, and the gripper stops moving;

in the process, if an artificial closing instruction or collision occurs in the area A outside the paw, the priority of the instruction sent according to the pressure information of the area A outside the paw is higher than that of other instructions, and the instruction sent according to the pressure information of the area A outside the paw is executed at the moment until the area A outside the paw no longer detects the pressure information;

the collision alert priority in the D area of the gripper tip is set to be highest, where all movement is stopped until the collision alert is released.

Compared with the prior art, the invention has the following beneficial effects:

1) The array type flexible touch sensor has the advantages of good flexibility, high sensitivity, high reliability, large measuring range, low cost and the like, can better sense the contact with the environment and a cooperative object, and can forcedly stop the action of the paw when detecting collision, so that hidden danger caused by the collision is avoided.

2) The control mode is simple and direct, the touch sensing function of the mechanical gripper is endowed, the intelligent level of the mechanical gripper is improved, the instantaneity and the flexibility of the action of the mechanical gripper are improved, and the control mode is suitable for more application scenes.

3) The judging method is realized in the embedded microcontroller, so that the control mode of the mechanical gripper is increased, the operation load of the main controller is lightened, and the universality of the mechanical gripper is enhanced.

Drawings

Fig. 1 is a schematic block diagram of the overall structure of a manipulator grabbing cooperation system provided by the application;

FIG. 2 is a schematic diagram of the correspondence relationship among the space coordinate system of the manipulator, the array type touch sensor and the two-dimensional array provided by the application;

fig. 3 is a schematic view of functional area division of a mechanical gripper provided in the present application.

Detailed Description

For the purposes of promoting an understanding of the principles of the invention, reference will now be made to the preferred embodiments and specific examples will be described in connection with the accompanying drawings.

The embodiment provides a manipulator grabbing cooperation method for full coverage of electronic skin, in particular to a manipulator claw cooperation method based on a touch sensor, which is realized through a manipulator grabbing cooperation system, wherein the manipulator grabbing cooperation system comprises: an array flexible tactile sensor 3, a tactile information acquisition system 8 and a robotic gripper system 9.

The array type flexible touch sensor 3 is also called electronic skin, is a published prior art, and can be referred to patent literature: the CN109990927A is a capacitive flexible touch sensor, has the characteristics of good flexibility, large measurement range, high response speed, small triggering force and the like, is applied to a mechanical gripper, and can realize touch feedback.

The haptic information collection system 8 includes a haptic information collection module 4, a haptic information processing module 5, a communication module 6, and a power source 7. The touch information acquisition module 4 acquires touch information sensing signals from the array type flexible touch sensor 3, and specifically, the touch information acquisition module 4 comprises four parts of DA conversion, an excitation source, information acquisition and AD conversion; the haptic information processing module 5 is used for performing arrangement analysis on the acquired haptic information to obtain action intention; the communication module 6 is a communication part with the robot claw system 9.

The gripper system 9 includes a conventional two-finger gripper 1 and a gripper control module 2 that drives the gripper 1.

The array type flexible touch sensor 3 used in this embodiment is an electric double layer capacitive touch sensor, and in the array number design, the array type flexible touch sensor 3 may be an array formed by electrodes of 4 rows and 16 columns, and a dielectric layer is disposed at the intersection point of the rows and the columns to form a capacitive unit, so that other array numbers can be selected. In this embodiment, the shape parameter of the sensor is mainly designed, and the shape, area and row and column values (4 rows and 16 columns) of the tactile sensor are designed according to the mechanical dimensions of the corresponding housing of the mechanical gripper 1, so that the resolution of the array type flexible tactile sensor 3 is determined, and the array type flexible tactile sensor is wrapped on the mechanical gripper 1, and is guaranteed to be completely attached to the housing of the two-finger mechanical gripper and is subjected to proper pretightening force. If the resolution of the array type flexible touch sensor 3 needs to be improved, the number of arrays in a unit area only needs to be improved.

The haptic information collection system 8 used in this embodiment is a part that connects the array type flexible haptic sensor 3, sorts and analyzes the collected haptic information, and then transmits the analysis result to the gripper control module 2 to control the movement of the gripper 1. Referring to fig. 2, the haptic information collection module 4 designs the number of output pins of the excitation source and the number of input pins of the information collection part of the haptic information collection module 4 according to the resolution and the row-column value of the array type flexible haptic sensor 3 (the number of rows of the array type flexible haptic sensor 3 corresponds to the number of output pins of the excitation source of the haptic information collection module 4, the number of columns of the array type flexible haptic sensor 3 corresponds to the number of input pins of the haptic information collection module), designs the capacitance value of the sampling capacitor according to the capacitance range of the array type flexible haptic sensor 3, forms a loop between the excitation source and the AD conversion through the array type flexible haptic sensor 3, and collects the haptic information of the whole array type flexible haptic sensor 3 by using a row-column scanning method; the haptic information processing module 5 is configured to arrange the acquired haptic information into a two-dimensional array, divide the two-dimensional array into corresponding functional areas, calculate the pressure values of the functional areas and the gravity center changes of the pressures thereof, and control the movement of the mechanical gripper 1 by calculating the pressure values of the functional areas and the movement direction of the gravity centers thereof; the communication module 6, namely the tactile information acquisition system 8 and the data transmission part of the manipulator claw control module 2.

Based on the above system and specific structure, the method for controlling the movement of the gripper based on the tactile sensor according to the present embodiment refers to a control method for controlling the movement of the gripper based on the tactile information, and the gripper is first divided into four main functional areas according to the application situation, see fig. 3, namely, an area a outside the gripper, an area B inside the gripper, an area C at the gripper fixing end, and an area D at the gripper tip. The area B on the inner side of the paw mainly detects the gripping force of the paw on the gripping targets in the gripping process, corresponding pressure thresholds are set for different gripping targets, and the gripping stopping conditions of the paw are set according to the set pressure thresholds; the area A outside the paw mainly detects two actions according to the length of contact time, the contact condition of the two outsides and the magnitude of pressure value, wherein one action is to control the closing of the paw by manual contact, and the other action is to detect the collision between the paw and an operator or an external environment; the C area part of the fixed end of the paw is mainly used for detecting whether a gripping target is in place or not and whether the gripping can be started or not; the D area of the two-finger mechanical gripper tip is mainly used for detecting the condition that the target gripper is not gripped and closed, and meanwhile, the accident that the two fingers of the gripper collide and squeeze is prevented.

The specific control steps are as follows:

in the working process, the mechanical gripper is moved to a gripping target through visual or teaching traction, at the moment, the mechanical gripper is in an open state until the C area of the gripper fixing end touches an operation target, namely, the pressure value of the C area of the gripper fixing end exceeds a set threshold value, the gripper starts to be closed, and until the pressure value of the B area of the inner side of the gripper exceeds the set threshold value, the gripper stops moving;

in the process, if an artificial closing instruction or collision occurs in the area A outside the paw, the priority of the instruction sent according to the pressure information of the area A outside the paw is higher than that of other instructions, and the instruction sent according to the pressure information of the area A outside the paw is executed at the moment until the area A outside the paw no longer detects the pressure information;

the collision alert priority is highest in the D zone of the gripper jaw tip, where all movement is stopped until the collision alert is released.

This embodiment is applicable to the prior art where it is not described.

Claims (8)

1. The manipulator grabbing cooperation system with the electronic skin full coverage is characterized by comprising an array type flexible touch sensor (3), a touch information acquisition system (8) and a manipulator claw system (9);

the mechanical gripper system (9) comprises a mechanical gripper (1) and a mechanical gripper control module (2) for driving the mechanical gripper (1);

the array type flexible touch sensor (3) is coated on the surface of the mechanical gripper (1);

the tactile information acquisition system (8) comprises a tactile information acquisition module (4) for acquiring a tactile information sensing signal from the array type flexible tactile sensor (3), a tactile information processing module (5) for processing the tactile information and a communication module (6) in communication connection with the mechanical gripper system (9);

the outer surface of the mechanical gripper (1) is divided into four functional areas, including an area A at the outer side of the gripper, an area B at the inner side of the gripper, an area C at the fixed end of the gripper and an area D at the tip of the gripper; the impact is detected by the tactile information of the array-type flexible tactile sensor of the a-zone outside the paw.

2. The manipulator grabbing cooperation system for full coverage of electronic skin according to claim 1, wherein the area B on the inner side of the gripper detects the grabbing force of the gripper on a grabbing target in the grabbing process, corresponding pressure thresholds are set for different grabbing targets, and grabbing stop conditions of the gripper are set according to the set pressure thresholds.

3. The manipulator grabbing cooperation system with full electronic skin coverage according to claim 1, wherein the area a outside the gripper detects two actions according to the length of the contact time, the contact condition of the two outsides and the magnitude of the pressure value: one is manual contact to control the closing of the jaws and the other is to detect a collision of the jaws with the operator or the external environment.

4. The manipulator grabbing cooperation system with full electronic skin coverage according to claim 1, wherein the area C of the fixed end of the gripper detects whether a grabbing target is in place or not and whether grabbing can be started or not.

5. The electronic skin full coverage manipulator grasping and cooperating system of claim 1, wherein the D area of the gripper tip is used to detect a condition where the target gripper is not grasped and to prevent the gripper from being squeezed by two fingers.

6. The manipulator grabbing cooperation system with the full-coverage electronic skin according to claim 1, wherein the array type flexible touch sensor (3) is coated on the surface of the manipulator claw (1), is kept to be completely attached to the shell of the manipulator claw (1), and is provided with pretightening force.

7. The manipulator grabbing cooperation system for full coverage of electronic skin according to claim 6, wherein the array type flexible touch sensor (3) is an array formed by m rows and n columns of electrodes, and a dielectric layer is arranged at the intersection point of the rows and the columns to form a capacitance unit; the touch information acquisition module (4) comprises DA conversion, an excitation source, information acquisition and AD conversion, the touch information acquisition module (4) designs the output pin number of the excitation source and the input pin number of the information acquisition according to the resolution and the row-column value of the array type flexible touch sensor (3), the number of rows of the array type flexible touch sensor (3) corresponds to the output pin number of the excitation source of the touch information acquisition module (4), and the number of columns of the array type flexible touch sensor (3) corresponds to the input pin number of the touch information acquisition module (4); and a loop is formed between the excitation source and AD conversion through the array type flexible touch sensor (3), and the touch information of the whole array type flexible touch sensor (3) is acquired by a row-column scanning method.

8. The manipulator grabbing cooperation method for fully covering the electronic skin is characterized in that the manipulator is divided into four functional areas, namely an area A outside the manipulator, an area B inside the manipulator, an area C at a fixed end of the manipulator and an area D at a tip of the manipulator, and the grabbing cooperation method specifically comprises the following steps:

the mechanical gripper moves to the gripping target, the mechanical gripper is in an open state until the C area of the gripper fixing end touches the target, namely, the pressure value of the C area of the gripper fixing end exceeds a set threshold value, the gripper starts to close until the pressure value of the B area on the inner side of the gripper exceeds the set threshold value, and the gripper stops moving;

in the process, if an artificial closing instruction or collision occurs in the area A outside the paw, the priority of the instruction sent according to the pressure information of the area A outside the paw is higher than that of other instructions, and the instruction sent according to the pressure information of the area A outside the paw is executed at the moment until the area A outside the paw no longer detects the pressure information; the collision alert priority in the D area of the gripper tip is set to be highest, where all movement is stopped until the collision alert is released.

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