CN205426392U - Dot matrix pressure detecting system based on flexible pressure drag material - Google Patents
Dot matrix pressure detecting system based on flexible pressure drag material Download PDFInfo
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- CN205426392U CN205426392U CN201620269380.3U CN201620269380U CN205426392U CN 205426392 U CN205426392 U CN 205426392U CN 201620269380 U CN201620269380 U CN 201620269380U CN 205426392 U CN205426392 U CN 205426392U
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Abstract
The utility model discloses a dot matrix pressure detecting system based on flexible pressure drag material, including flexible pressure sensor array and bury the flexible sensor unit in flexible array, flexible sensor unit and signal acquisition circuit link to each other, signal acquisition circuit and AD converting circuit link to each other, the signal transmission of AD converting circuit after will changing handle for the host computer. The utility model discloses contrast with prior art, the utility model discloses the pressure distribution that can be applied to flexible dot matrix touch sensing ware detects, utilizes the mutual data between every sensor unit, can accurate size and the position of detecting pressure to simple structure, the precision is high, and the amount of calculation is less simultaneously, and response speed is fast, and easy sensor array's modularization has improved the efficiency of single sensor.
Description
Technical field
The utility model discloses a kind of dot matrix pressure detecting system based on flexible pressure drag material.
Background technology
Along with robot research is deepened continuously by people, tactile sensing device of robot has had become as a popular research topic.Sense of touch is a kind of fundamental sensation contacted with environment, and especially when environment can not completely determine and describe, tactile data is particularly important.Now, one of study hotspot of sense of touch is the detection realizing flexible touch sensation sensor array to pressure distribution.At present, flexible touch sensation sensor array realizes pressure distribution detection mainly a following two method:
One is low-density sensor array, and single sensor is lined up simpler array by geometry rule, or is distributed in desired location by actual demand.This sensor array response time is short, low cost, but being limited in scope of measuring, the Position Approximate of pressure distribution can only be detected, it is impossible to be specifically accurate to certain point.The actually used precision of the most this sensor array is relatively low.
One is High Density Integration sensor array, and the distance between sensor unit is grade even micron order.When object is carried on this sensor array, can obtain being similar to the haptic data of computer picture data according to the feedback of each sensor unit, it is also possible to referred to as " tactile pattern ".Tactile pattern corresponding after being loaded by object subsequently is defined and feature extraction being stored in data base, just mates when sensor obtains tactile pattern again such that it is able to analyze touching object position.The precision that the method is higher, but computationally intensive, and response time is long, needs substantial amounts of experiment and data to be defined classification, and array manufactures complexity, relatively costly.
Utility model content
For deficiency of the prior art, the utility model proposes one it can be avoided that disadvantages mentioned above, amount of calculation is little, response time is fast, detection pressure distribution precision is high, lower-cost dot matrix pressure detecting system based on flexible pressure drag material and detection method, this utility model uses the flexible thin film sensor with piezoresistive characteristic as flexible sensor unit, utilizes flexible material to encapsulate multiple sensor units and constitute the main body pliable pressure sensor array of this pressure detecting system.By the output voltage values of multiple sensors, use three-point fix algorithm, the pressure size being finally inversed by sensor array area further according to the characteristic of encapsulating material and pressure point locations.
The technical solution adopted in the utility model is as follows:
A kind of dot matrix pressure detecting system based on flexible pressure drag material, including pliable pressure sensor array, the described flexible sensor unit in pliable pressure sensor array is connected with signal acquisition circuit, described signal acquisition circuit is connected with A/D change-over circuit, and the signal after conversion is sent to host computer and processes by described A/D change-over circuit.
Further, described flexible sensor unit is powered by power supply.
Further, described flexible array uses polydimethylsiloxane (PDMS) to be packaged flexible sensor unit.With wire and outside, all there is good insulating properties with flexible sensor unit, it is possible to prevent the electrical interference to this array of the extraneous contact thing.
Further, described pliable pressure sensor array is classified as a square structure, and multiple flexible sensor unit are encapsulated in square structure according to the mode of equilateral triangle array, and three adjacent flexible sensor unit constitute an equilateral triangle.
Further, described signal acquisition circuit comprises multiple branch, and each branch is connected by wire and a sensor unit；The each line structure of signal acquisition circuit is identical, including the low-pass filter circuit being connected with wire, the operational amplification circuit being connected with filter circuit, and the A/D change-over circuit being connected with discharge circuit.
The beneficial effects of the utility model are as follows:
This utility model is compared with the prior art, this utility model can be applied to the pressure distribution detection of flexible points configuration touch sensor, utilize the mutual data between each sensor unit, can accurately detect size and the position of pressure, and simple in construction, precision is high, amount of calculation is less simultaneously, fast response time, it is easy to the modularity of sensor array, improves the efficiency of single sensor.
Accompanying drawing explanation
Fig. 1 sensor array structure of the present utility model sketch；
Fig. 2 sensors sides cut-away view；
The delta-shaped region figure that Fig. 3 array is formed；
Fig. 4 location algorithm analysis chart；
Fig. 5 overall structure of the present utility model figure；
The signal acquisition circuit figure on Fig. 6 signal acquisition circuit wherein road；
In figure: 1 sensor unit, 2 pliable pressure sensor arraies, 3 triangle detection regions, 4 signal acquisition circuits, 5 data collecting cards, 6 host computers, 7 power supplys.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in detail:
Flexible points configuration pressure detecting system of the present utility model mainly includes that pliable pressure sensor array 2, pliable pressure sensor array 2 include flexible sensor unit 1 and the flexible material of encapsulation flexible sensor unit 1, connection power supply and the multiply copper conductor of flexible sensor unit, signal acquisition circuit 4, carry out 16 bit data capture cards 5 of A/D conversion and the data processor total of six part of host computer 6.
Flexible array uses polydimethylsiloxane (PDMS) to be packaged flexible sensor unit.With wire and outside, all there is good insulating properties with flexible sensor unit, it is possible to prevent the electrical interference to this array of the extraneous contact thing.This array sizes is 80mm*80mm*8mm, on the summit of the equilateral triangle that flexible sensor unit is placed on length of side 20mm, is altogether made up of 4 equilateral triangle detection regions 36 flexible sensor unit.
Signal acquisition circuit 4 comprises multiple branch, and each branch is connected by wire and a sensor unit 1.The each line structure of signal acquisition circuit 4 is identical, mainly includes the low-pass filter circuit being connected with wire, the operational amplification circuit being connected with filter circuit, and the usb data capture card carrying out A/D conversion being connected with discharge circuit.
Pliable pressure sensor array 2 and signal acquisition circuit 4 are powered by power supply.
The detection method using this utility model detecting system is as follows:
1., after sensor array switches on power, when applying pressure in array certain point, due to the piezoresistive effect of flexible sensor unit (flexible thin film sensor), flexible sensor unit output voltage can be caused to change.
2. the output voltage entrance Acquisition Circuit of flexible sensor unit is amplified and filters, and eliminates contact impedance impact, facilitates subsequent treatment.
3. amplify after voltage signal be input to 16 high-accuracy data collection cards carry out A/D conversion become digital signal.
The most finally write host computer procedure, derive each flexible sensor unit pressure size according to the digital signal of data collecting card input, recycle three-point fix algorithm, can be in the hope of the size of array pressure and position after solving equation.
Three-point fix algorithm steps:
1. contrasting the magnitude of voltage of each flexible sensor unit, according to the size of each sensor unit magnitude of voltage, it is judged that apply pressure spot and fall at which delta-shaped region or array external, when pressure spot falls in outside, then this measurement is invalid.
2. when pressure spot falls at a certain triangle interior, by should the output valve of three flexible sensor unit of triangle bring in equation, can be in the hope of the size of array pressure and position after solving equation.The equation is derived by this sensor array structure, indicates the stress value of certain point and the relation applying pressure spot size and position in this sensor array.
Concrete analysis and the process of calculating are as follows: this array is made up of sensor unit, the flexible material of encapsulation sensor unit, and sensor unit presses equilateral triangle distribution.
Mechanical analysis is carried out firstly the need of to sensor array；Fig. 2 is the schematic cross-section of sensor array stress.Assuming that flexible material is homogenizing and isotropic, it can be deduced that spatial point (x, y, z) stress value is expressed as:
In formula: r represents the distance of this point and stress point；Fx represents the pressure component in x-axis direction, and h represents the degree of depth of this point.Can draw from above formula, the output of sensor is directly proportional to the vertical direction component of pressure, is inversely proportional to from stress point distance with sensor, with square being inversely proportional to of the degree of depth of sensor.
When touch points falls when delta-shaped region is internal, the output voltage values (V1, V2, V3) of sensor on three summits just can be obtained.Assuming that F is contact force size, S represents the distance of contact point and sensor unit.So touch points position just can be represented from the distance (S1, S2, S3) of three pressure sensor unit by touch points.There are mapping relations for single pressure transducer its output voltage values V and (F, S), but a V is corresponding with numerous (F, S).
Assume to have been obtained for sensor output voltage value V1 on three summits, V2, V3 in one-shot measurement.Assume that stress size is F, then obtain unique array (S1, S2, S3).Take different F value and then obtain different arrays, total infinite many groups of array (F, S1, S2, S3).If as this point of Fig. 3 is touch points, then one is set to three round common intersection.When F increases, and radius of circle (S1, S2, S3) all increases, can；F reduces, and radius of circle (S1, S2, S3) all reduces.But only one group (F, S1, S2, S3) can meet the geometrical relationship in equilateral triangle.The most just can be determined contacting points position by three pressure transducer output valves (V1, V2, V3) and applied the size of power.
As shown in Figure 4, with one point of triangle as initial point, a limit is that X-axis sets up coordinate system.The most next calculating, suffered by the sensor that will derive above, stress value simplified formula isWherein L is the equilateral triangle length of side, and V is sensor output voltage value, and K is sensor coefficient, and F is contact force size, and S is that sensor is from contact point distance.Assume that contact point coordinate is P (X, Y), then there is following relation:
KA,KB,KOIt is respectively the transduction factor (demarcate in advance and record) of three sensor units, VA, VB, VOIt is the output voltage of three sensor units, SA,SB,SCBe three sensor units from contact point distance, L is the equilateral triangle length of side, x, y for apply pressure spot coordinate.
After carrying out transducer calibration experiment, it is possible to draw the COEFFICIENT K of each sensor, by solving equation the coordinate and contact force F value that just can draw P point.
Although detailed description of the invention of the present utility model is described by the above-mentioned accompanying drawing that combines; but the not restriction to this utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art need not to pay various amendments or deformation that creative work can make still within protection domain of the present utility model.
Claims (4)
1. a dot matrix pressure detecting system based on flexible pressure drag material, it is characterized in that: include pliable pressure sensor array and the flexible sensor unit being embedded in flexible array, described pliable pressure sensor array is classified as a square structure, multiple flexible sensor unit are placed in square structure according to the mode of equilateral triangle array, and three adjacent flexible sensor unit constitute an equilateral triangle；Described flexible sensor unit is connected with signal acquisition circuit, and described signal acquisition circuit is connected with A/D change-over circuit, and the signal after conversion is sent to host computer and processes by described A/D change-over circuit.
2. dot matrix pressure detecting system based on flexible pressure drag material as claimed in claim 1, it is characterised in that: described pliable pressure sensor array uses polydimethylsiloxane to be packaged flexible sensor unit.
3. dot matrix pressure detecting system based on flexible pressure drag material as claimed in claim 1, it is characterised in that: described signal acquisition circuit comprises multiple branch, and each branch is connected by wire and a sensor unit；The each line structure of signal acquisition circuit is identical, including the low-pass filter circuit being connected with wire, the operational amplification circuit being connected with filter circuit, and the A/D change-over circuit being connected with discharge circuit.
4. dot matrix pressure detecting system based on flexible pressure drag material as claimed in claim 1, it is characterised in that: described flexible sensor unit uses flexible thin film sensor.
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| Application Number | Priority Date | Filing Date | Title |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105675181A (en) * | 2016-04-01 | 2016-06-15 | 山东大学 | Dot-matrix pressure detection system based on flexible piezoresistive material and detection method |
| CN110044525A (en) * | 2019-04-26 | 2019-07-23 | 西安建筑科技大学 | A kind of flexible resistive dot matrix pressure detecting system, method and apparatus |
| CN111070215A (en) * | 2019-12-04 | 2020-04-28 | 天津大学 | Wearable pneumatic skin system with impact resistance and position perception |
-
2016
- 2016-04-01 CN CN201620269380.3U patent/CN205426392U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105675181A (en) * | 2016-04-01 | 2016-06-15 | 山东大学 | Dot-matrix pressure detection system based on flexible piezoresistive material and detection method |
| CN105675181B (en) * | 2016-04-01 | 2018-11-13 | 山东大学 | A kind of dot matrix pressure detecting system and detection method based on flexible pressure drag material |
| CN110044525A (en) * | 2019-04-26 | 2019-07-23 | 西安建筑科技大学 | A kind of flexible resistive dot matrix pressure detecting system, method and apparatus |
| CN111070215A (en) * | 2019-12-04 | 2020-04-28 | 天津大学 | Wearable pneumatic skin system with impact resistance and position perception |
| CN111070215B (en) * | 2019-12-04 | 2023-03-21 | 天津大学 | Wearable pneumatic skin system with impact resistance and position perception |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20170401 |