CN208721296U - A kind of sensor - Google Patents
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- CN208721296U CN208721296U CN201821579775.9U CN201821579775U CN208721296U CN 208721296 U CN208721296 U CN 208721296U CN 201821579775 U CN201821579775 U CN 201821579775U CN 208721296 U CN208721296 U CN 208721296U
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Abstract
本实用新型实施例公开了一种传感器。该传感器包括压电驻极体、接地层、放大电路和控制器；所述压电驻极体设置在所述接地层的外表面，所述压电驻极体通过所述放大电路连接所述控制器，所述压电驻极体将采集的触觉信号转换为电信号，所述放大电路将所述压电驻极体输出的电信号转换为电压信号，所述控制器根据所述电压信号的峰值和时间输出所述触觉信号的类型。上述技术方案解决了现有技术中触觉信号检测精度差的问题，实现了对触觉信号的多点并行检测，提高了触觉信号检测的精度。
The embodiment of the utility model discloses a sensor. The sensor includes a piezoelectric electret, a ground layer, an amplifier circuit and a controller; the piezoelectric electret is arranged on the outer surface of the ground layer, and the piezoelectric electret is connected to the a controller, the piezoelectric electret converts the collected tactile signal into an electrical signal, the amplifying circuit converts the electrical signal output by the piezoelectric electret into a voltage signal, the controller according to the voltage signal The type of peak and time output of the haptic signal. The above technical solution solves the problem of poor detection accuracy of tactile signals in the prior art, realizes multi-point parallel detection of tactile signals, and improves the detection accuracy of tactile signals.
Description
Technical field
The utility model embodiment is related to sensor technical field more particularly to a kind of sensor.
Background technique
The skin of people is the sensor of accurate perception haptic signal.All kinds of receptors of skin surface obtain tactile data and compile
These information are transferred to brain by nervous system by code.For artificial limb, machine artificial hand etc., all kinds of artificial sensings can be passed through
Device detection haptic signal is transferred to brain by nervous system after processing.Therefore, in order to realize to artificial limb, machine artificial hand etc.
Be precisely controlled, it is necessary first to complete the detection of haptic signal.
Haptic signal can be obtained by the interaction force between object such as analysis artificial limb, machine artificial hand.Wherein, it presses
Pressure and sliding are most important two classes haptic signals.For pressing signal, detection artificial limb, machine artificial hand etc. and object can be passed through
The pressure of contact surface obtains.Most common pressure sensor has capacitance type sensor and resistance sensor.For sliding
Signal can be obtained by detection artificial limb, machine artificial hand etc. and the frictional force of object contact surface.Most common frictional force passes
Sensor has piezoelectric transducer and friction electric-type sensor.
Although the sensor can detecte the haptic signal of artificial limb, machine artificial hand etc., but in material property, detection essence
Degree, manufacture difficulty or cost etc. come with some shortcomings.For example, capacitance type sensor precision and the linearity are higher, but circuit
Complexity is big by electromagnetic interference.Resistance sensor sensitivity and signal stabilization are all limited.Piezoelectric transducer and friction electric-type
The material that sensor uses is easy to be influenced by temperature.Although also there is material such as Kynoar (Polyvinylidene
Fluoride, PVDF) pressing signal and slip signals can be detected simultaneously, but acquire a certain degree of difficulty in terms of Signal separator, so that
The detection accuracy of two kinds of signals is all not high enough.
Utility model content
The utility model provides a kind of sensor, to realize that the multipoint parallel to haptic signal detects, improves tactile letter
Number detection precision.
The utility model embodiment provides a kind of sensor, including piezo-electric electret, ground plane, amplifying circuit and control
Device；The outer surface of the ground plane is arranged in the piezo-electric electret, and the piezo-electric electret is connected by the amplifying circuit
The haptic signal of acquisition is converted to electric signal by the controller, the piezo-electric electret, and the amplifying circuit is by the piezoelectricity
The electric signal of electret output is converted to voltage signal, and the controller exports institute according to the peak value of the voltage signal and time
State the type of haptic signal.
Further, the quantity of the piezo-electric electret is two or more.
Further, the piezo-electric electret is arranged parallel in the outer surface of the ground plane.
It further, further include earth lead；One end of the earth lead connects the outer surface of the ground plane, described
The other end of earth lead connects the ground terminal of the amplifying circuit.
It further, further include transducing signal conducting wire；One end of the transducing signal conducting wire connects the piezo-electric electret
Outer surface, the other end of the transducing signal conducting wire connects the input terminal of the amplifying circuit.
Further, the amplifying circuit is charge amplifier, and the charge amplifier includes charge conversion stage, low pass filtered
Wave device, high-pass filter and final stage power amplifier, the charge conversion stage, the low-pass filter, the high-pass filter and described
Final stage power amplifier is sequentially connected with.
Sensor provided by the embodiment of the utility model, including piezo-electric electret, ground plane, amplifying circuit and controller；
The outer surface of the ground plane is arranged in the piezo-electric electret, and the piezo-electric electret passes through described in amplifying circuit connection
The haptic signal of acquisition is converted to electric signal by controller, the piezo-electric electret, and the amplifying circuit is by the piezoelectricity electret
The electric signal of body output is converted to voltage signal, and the controller exports the touching according to the peak value of the voltage signal and time
The type for feeling signal, solves the problems, such as that haptic signal detection accuracy is poor in the prior art, realizes the multiple spot to haptic signal
Parallel detection improves the precision of haptic signal detection.
Detailed description of the invention
It, below will be to the utility model embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to the content of the utility model embodiment and these attached drawings.
Fig. 1 is a kind of structure chart of sensor provided by the embodiment of the utility model；
Fig. 2 is that sensor receives the waveform voltage signal figure for pressing and generating when sliding at the same time；
Fig. 3 is the three-dimensional structure diagram of ground plane and piezo-electric electret in sensor；
Fig. 4 is the schematic diagram for the voltage signal that sensor generates under same active force.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model, rather than the restriction to the utility model.It further needs exist for
It is bright, part relevant to the utility model is illustrated only for ease of description, in attached drawing rather than entire infrastructure.
Fig. 1 is a kind of structure chart of sensor provided by the embodiment of the utility model.The sensor is for detecting tactile letter
Number, wherein haptic signal can be obtained by the interaction force between analyte sensors and object.In practical application, tactile
Signal is most commonly seen to press signal and slip signals.What pressing signal embodied is the vertical component of pressure, and transformation period is short, peak
Value is big, and corresponding voltage signal transformation period is short, and peak value is big.What slip signals embodied is the tangential component of pressure, can also be managed
Solution is is frictional force, and transformation period is long, and peak value is small, and corresponding voltage signal transformation period is long, and peak value is small.It specifically can be with reference to figure
2, Fig. 2 waveform voltage signal figures generated when receiving at the same time for sensor and press and slide.As seen from Figure 2, sensor
When receiving pressing and sliding, there are bigger differences for the transformation period and peak value of the voltage signal finally generated, therefore, according to electricity
The size of the length and peak value of pressing the signal intensity time can determine haptic signal.
Specifically, the sensor includes piezo-electric electret 110, ground plane 120, amplifying circuit 130 and control with reference to Fig. 1
Device 140；The outer surface of the ground plane 120 is arranged in the piezo-electric electret 110, and the piezo-electric electret 110 passes through described
Amplifying circuit 130 connects the controller 140, and the haptic signal of acquisition is converted to electric signal by the piezo-electric electret 110, institute
It states amplifying circuit 130 and the electric signal that the piezo-electric electret 110 exports is converted into voltage signal, 140 basis of controller
The peak value of the voltage signal and time export the type of the haptic signal.
Piezo-electric electret 110 is a kind of novel electromechanical sensing material with piezoelectric property, has high sensitivity (than tradition
Magnitude of piezoelectricity PVDF high), light weight (tens arrive several hundred milligrams), flexibility it is good (it is bent, have certain flexible
Property) and the advantages that thickness thin (tens arrive several hundred microns), and preparation process is simple, at low cost, not vulnerable to the shadow of temperature change
It rings.Preparation method can select according to actual needs, such as can prepare piezoelectricity using extruding method, template or etching method etc.
Electret 110.Wherein, the concrete operations of extruding method, template and etching method are the prior art, and details are not described herein again.Piezoelectricity is stayed
The size of polar body 110 can be set according to actual needs, such as can be 3mm*10mm.
Further, the internal structure of piezo-electric electret 110 is void shape, and the upper and lower surface of hole is deposited with just respectively
Negative electrical charge generates deformation under the effect of external force, and electric dipole moment changes, and then compensation charge is made to change, so that pressure
Electroelectret 110 externally shows electric signal.Wherein, the shape of hole can specifically design according to the actual situation, such as can be with
It is rectangle, is also possible to prism shape, this embodiment is not limited.It is understood that the external force that piezo-electric electret 110 receives is got over
Greatly, the electric signal externally shown is stronger, easier detection.For example, pressing and sliding are two kinds of power changed greatly, when having
When pressing and sliding are acted on piezo-electric electret 110, piezo-electric electret 110 directly can go out to press letter according to electrical signal detection
Number and slip signals, without carry out difference and differential etc. processing.
Illustratively, when piezo-electric electret 110 and body surface contact, piezo-electric electret 110 generates phase with body surface
Interreaction force, piezo-electric electret 110 generates deformation under the action of the interaction force, so that electric dipole moment changes, mends
It repays charge to change, and then piezo-electric electret 110 is made externally to show electric signal.For the ease of detection, piezoelectricity can be increased
Interaction force between electret 110 and body surface makes piezo-electric electret 110 externally show stronger electric signal.
Further, in order to realize the multiple spot detection to haptic signal, the number of piezo-electric electret 110 is also set in embodiment
Amount not only one, to guarantee that multiple haptic signals, example can be acquired simultaneously when piezo-electric electret 110 and body surface contact
The quantity that piezo-electric electret 110 can such as be set is two or more, and the quantity specifically set can be according to actual needs
It determines.The benefit being arranged in this way is: can detect the haptic signal of multiple points simultaneously, reduce measurement error, improve detection accuracy.
The outer surface of ground plane 120 is provided with piezo-electric electret 110, provides ground connection for piezo-electric electret 110, stays piezoelectricity
The reference potential having the same of polar body 110.The benefit being arranged in this way is: ensure that the reference having the same of piezo-electric electret 110
Potential improves haptic signal detection so that the electric signal directly exported according to piezo-electric electret 110 carries out the judgement of haptic signal
Precision, at the same time it can also realize and detected to the multiple spot of haptic signal by the way that multiple piezo-electric electrets 110 are arranged.It specifically can be with
It is the three-dimensional structure diagram of ground plane 120 and piezo-electric electret 110 in sensor with reference to Fig. 3, Fig. 3.Wherein, ground plane 120 is outer
Surface can be the surface that ground plane 120 is contacted with piezo-electric electret 110.It is plated by coating process the outer surface of ground plane 120
There is one layer of metal layer, to make the reference potential having the same of piezo-electric electret 110 by being connected with earth lead 150.Specifically
Coating process can be using coating process such as magnetron sputtering in the prior art or hot dips.Material the present embodiment of ground plane 120
It is not construed as limiting, such as can choose the material of the function admirables such as insulating properties and heat resistance, such as dimethyl silicone polymer
(Polydimethylsiloxane, PDMS), polypropylene (Polypropylene, PP) or fluorinated ethylene propylene copolymer
(Fluorinated ethylene propylene, FEP), can specifically select according to actual needs.Further, ground plane
120 size can be configured with the size of piezo-electric electret 110 and quantity according to actual needs, such as be can be set and connect
The size on stratum 120 is 15mm*15mm.
Amplifying circuit 130 is connect with piezo-electric electret 110 and controller 140 respectively, for converting received electric signal
At voltage signal, and it is sent to controller 140, controller 140 is allow to detect tactile according to the peak value of voltage signal and time
The type of signal.Specifically, amplifying circuit 130 can be the circuit comprising charge amplifier, to charge amplifier in embodiment
The specific structure of every part is not construed as limiting, as long as being able to achieve above-mentioned function.
In order to improve the precision of haptic signal detection, controller 140 can handle received voltage signal, such as
Pretreatment and precision processing.Wherein, pretreatment can be understood as the preliminary treatment to voltage signal, due to piezo-electric electret 110
Quantity more than one, controller 140 can receive multiple voltage signals, in order to which the lesser voltage signal of Select Error is as tactile
The foundation of signal detection needs to carry out multiple voltage signals preliminary treatment, such as can carry out mean value to multiple voltage signals
Processing, to reduce the accidental error of haptic signal collection process.Precision processing can be understood as on the basis of pretreated according to
Mean value voltage signal is further processed, to reduce the error between measured value and true value, such as least square method.
Specifically, piezo-electric electret 110 acquires multiple haptic signal y1, y2 ..., yn, and export multiple electric signal q1,
Q2 ..., qn, amplifying circuit 130 by electric signal q1, q2 ..., qn be converted to corresponding voltage signal u1, u2 ..., un, controller
140 couples of received voltage signal u1, u2 ..., un carry out pretreatment and precision processing.Wherein, n is the number of piezo-electric electret 110
Amount, such as the quantity of piezo-electric electret 110 are 3, then n=3.Voltage signal u1 is corresponding with electric signal q1 and haptic signal y1, electricity
Press signal u2 corresponding with electric signal q2 and haptic signal y2, and so on.Controller 140 to received multiple voltage signal u1,
U2 ..., un carry out average value processing, to obtain mean value voltage signal u.Wherein, mean value voltage signal u specifically can be by following
Expression formula obtains:
According to u1, u2 ..., un and u, calculate the minimum corresponding voltage signal of variance, Ji Kegen using least square method
According to the type of transformation period and peak value the output haptic signal of this group of voltage signal.It should be noted that the present embodiment is to voltage
The treatment process of signal is not construed as limiting, and can be used as long as the measurement accuracy of haptic signal can be improved.
Further, the course of work of the sensor are as follows: when piezo-electric electret 110 and object contact, acquisition tactile letter
Number, and haptic signal is converted into electric signal, amplifying circuit 130, amplifying circuit 130 are transferred to by transducing signal conducting wire 160
Received electric signal is converted into voltage signal and carries out enhanced processing, is transferred to controller 140, controller 140 is to received
Voltage signal obtains the minimum corresponding voltage signal of variance after carrying out pretreatment and precision processing, according to the peak value of the voltage signal
The detection to haptic signal is completed with the time.
A kind of sensor provided by the embodiment of the utility model, including piezo-electric electret, ground plane, amplifying circuit and control
Device；The outer surface of the ground plane is arranged in the piezo-electric electret, and the piezo-electric electret is connected by the amplifying circuit
The haptic signal of acquisition is converted to electric signal by the controller, the piezo-electric electret, and the amplifying circuit is by the piezoelectricity
The electric signal of electret output is converted to voltage signal, and the controller exports institute according to the peak value of the voltage signal and time
The type for stating haptic signal realizes the multipoint parallel detection to haptic signal, improves the detection accuracy of haptic signal.
On the basis of the above embodiments, the quantity of the piezo-electric electret 110 is two or more.
Specifically, when piezo-electric electret 110 and body surface contact, it is real in order to detect multiple haptic signals simultaneously
The quantity that piezo-electric electret 110 is set in example is applied as two or more.Fig. 1 is by taking 3 piezo-electric electrets 110 as an example.Work as pressure
When the quantity of electroelectret 110 is multiple, each piezo-electric electret 110 is independent from each other, and is being connect with preset interval setting
On stratum 120.Wherein, the structure snd size of each piezo-electric electret 110 can be identical, can also be not exactly the same, also
It can be entirely different.In order to improve the detection accuracy of haptic signal, it is complete phase that each piezo-electric electret 110 is set in embodiment
With.Likewise, preset interval can also be designed according to the specific size of piezo-electric electret 110 and ground plane 120.It is preferred that
, preset interval 3mm.Further, the preset interval between each piezo-electric electret 110 may be the same or different,
For the ease of analyzing voltage signal, the preset interval set between each piezo-electric electret 110 in embodiment is identical.
On the basis of the above embodiments, with reference to Fig. 1, the piezo-electric electret 110 is in the outer surface of the ground plane 120
Parallel setting.Specifically, piezo-electric electret 110 is arranged on ground plane 120, the purpose is to so that piezo-electric electret 110 is had phase
Same reference potential.Further, arrangement of the piezo-electric electret 110 on ground plane 120 can be set according to actual needs.It is excellent
Choosing, the outer surface of ground plane 120 is arranged in parallel to guarantee the electric signal of the generation of piezo-electric electret 110 in piezo-electric electret 110
Independently of each other, it does not interfere with each other.
On the basis of the above embodiments, with reference to Fig. 1, which further includes earth lead 150；The earth lead
150 one end connects the outer surface of the ground plane 120, and the other end of the earth lead 150 connects the amplifying circuit 130
Ground terminal.
Specifically, the metal layer of the outer surface of 150 one end of earth lead connection ground plane 120, the other end and amplifying circuit
130 ground terminal is connected, such piezo-electric electret 110 reference potential having the same, i.e., common ground connection.Wherein, earth lead
150 be plain conductor.
On the basis of the above embodiments, with reference to Fig. 1, which further includes transducing signal conducting wire 160；The sensing letter
One end of number conducting wire 160 connects the outer surface of the piezo-electric electret 110, the other end connection of the transducing signal conducting wire 160
The input terminal of the amplifying circuit 130.
Specifically, the electric signal transmission that transducing signal conducting wire 160 generates piezo-electric electret 110 is to amplifying circuit 130.It passes
Feel the outer surface of one end connection piezo-electric electret 110 of signal conductor 160, the other end connects the input terminal of amplifying circuit 130, when
When the haptic signal of acquisition is converted into electric signal and is exported by piezo-electric electret 110, amplifying circuit 130 can obtain the telecommunications
Number.Wherein, the outer surface of piezo-electric electret 110 is the surface parallel with ground plane 120 of piezo-electric electret 110.Transducing signal is led
Line 160 is plain conductor.
Optionally, on the basis of the above embodiments, the material of the piezo-electric electret 110 is polypropylene, ethylene fluoride
One of ionomer, polytetrafluoroethylene (PTFE).
Specifically, polypropylene, ethylene fluoride ionomer, polytetrafluoroethylene (PTFE) have light weight, thickness are thin and sensitivity is good etc.
Characteristic meets the characteristic that piezo-electric electret 110 has in the present embodiment, realizes the detection to haptic signal, and at low cost, soft
It is soft good.
Optionally, on the basis of the above embodiments, the outer surface of the piezo-electric electret 110 is covered with metal film.
Specifically, the outer surface of piezo-electric electret 110 is covered with metal film, the electric signal that piezo-electric electret 110 is generated
Amplifying circuit 130 is transferred to by transducing signal conducting wire 160.The wherein technique of coating process and metal-coated membrane on ground plane 120
Similar, details are not described herein again.
On the basis of the above embodiments, amplifying circuit 130 is charge amplifier, and the charge amplifier includes that charge becomes
Change grade, low-pass filter, high-pass filter and final stage power amplifier, the charge conversion stage, the low-pass filter, high pass filter
Wave device and the final stage power amplifier are sequentially connected with.
It is charge amplifier that amplifying circuit 130 is set in embodiment, and charge conversion stage, low-pass filter, high pass are filtered
Wave device and final stage power amplifier are sequentially connected with.Charge conversion stage is also connect with piezo-electric electret 110, to receive electric signal, and by telecommunications
Number it is converted into voltage signal.Low-pass filter and high-pass filter are respectively used to eliminate the High-frequency Interference letter adulterated in voltage signal
Number and low-frequency interference signal, improve haptic signal judgement accuracy, wherein low-pass filter can be second-order low-pass filter
Device.In practical application, haptic signal is through piezo-electric electret 110, charge conversion stage, low-pass filter and high pass filter, processes
Afterwards, the voltage signal obtained is smaller, if directly carrying out the judgement of haptic signal type according to the voltage signal, can generate larger mistake
Difference, therefore in order to reduce error, the accuracy of judgement is improved, embodiment also further passes through final stage power amplifier for filtered voltage
Signal amplifies, and amplified voltage signal is sent to controller 140, by controller 140 according to amplified voltage
Signal judges the type of haptic signal.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, is able to carry out for a person skilled in the art various bright
Aobvious variation, readjustment and substitution is without departing from the protection scope of the utility model.Therefore, although passing through above embodiments
The utility model is described in further detail, but the utility model is not limited only to above embodiments, is not departing from
It can also include more other equivalent embodiments in the case that the utility model is conceived, and the scope of the utility model is by appended
Scope of the claims determine.
Claims (6)
1. a kind of sensor, which is characterized in that including piezo-electric electret, ground plane, amplifying circuit and controller；The piezoelectricity is stayed
The outer surface of the ground plane is arranged in polar body, and the piezo-electric electret connects the controller, institute by the amplifying circuit
It states piezo-electric electret and the haptic signal of acquisition is converted into electric signal, the electricity that the amplifying circuit exports the piezo-electric electret
Signal is converted to voltage signal, and the controller exports the class of the haptic signal according to the peak value and time of the voltage signal
Type.
2. sensor according to claim 1, which is characterized in that the quantity of the piezo-electric electret be two or two with
On.
3. sensor according to claim 2, which is characterized in that the piezo-electric electret is in the outer surface of the ground plane
Parallel setting.
4. sensor according to claim 1, which is characterized in that further include earth lead；One end of the earth lead
The outer surface of the ground plane is connected, the other end of the earth lead connects the ground terminal of the amplifying circuit.
5. sensor according to claim 1, which is characterized in that further include transducing signal conducting wire；The transducing signal is led
One end of line connects the outer surface of the piezo-electric electret, and the other end of the transducing signal conducting wire connects the amplifying circuit
Input terminal.
6. sensor according to claim 1, which is characterized in that the amplifying circuit is charge amplifier, the charge
Amplifier includes charge conversion stage, low-pass filter, high-pass filter and final stage power amplifier, the charge conversion stage, the low pass
Filter, the high-pass filter and the final stage power amplifier are sequentially connected with.
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|---|---|---|---|
| CN201821579775.9U CN208721296U (en) | 2018-09-27 | 2018-09-27 | A kind of sensor |
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| CN201821579775.9U CN208721296U (en) | 2018-09-27 | 2018-09-27 | A kind of sensor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109100070A (en) * | 2018-09-27 | 2018-12-28 | 中国科学院深圳先进技术研究院 | A kind of sensor and the method for detecting haptic signal |
| CN118758460A (en) * | 2024-09-09 | 2024-10-11 | 成都时代慧道科技有限公司 | Working method and system for converting pressure variables of pressure sensor into electrical variables |
-
2018
- 2018-09-27 CN CN201821579775.9U patent/CN208721296U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109100070A (en) * | 2018-09-27 | 2018-12-28 | 中国科学院深圳先进技术研究院 | A kind of sensor and the method for detecting haptic signal |
| CN118758460A (en) * | 2024-09-09 | 2024-10-11 | 成都时代慧道科技有限公司 | Working method and system for converting pressure variables of pressure sensor into electrical variables |
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