CN211855191U - Non-contact electronic skin sensing circuit and device - Google Patents
Non-contact electronic skin sensing circuit and device Download PDFInfo
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- CN211855191U CN211855191U CN201921252998.9U CN201921252998U CN211855191U CN 211855191 U CN211855191 U CN 211855191U CN 201921252998 U CN201921252998 U CN 201921252998U CN 211855191 U CN211855191 U CN 211855191U
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Abstract
A non-contact electronic skin sensing circuit and a non-contact electronic skin sensing device comprise a metal conductor, a fixed capacitor, an inductor, a detection module and a processing module. When the electric conductor appears in a preset range, a coupling capacitor is formed between the metal conductor and the electric conductor; the detection module calculates and outputs the total capacitance value of the coupling capacitor and the preset capacitance value; the processing module analyzes the position information of the conductive body according to the total capacitance value. According to the non-contact electronic skin sensing circuit and the non-contact electronic skin sensing device, only the electric conductor is required to be in the preset range, the contact detection module is not required, the position information of the electric conductor can be analyzed by analyzing the size of the total capacitance, close-range non-contact identification is achieved, the sensing sensitivity is high, and meanwhile the problems that the non-contact identification cannot be achieved, the sensing sensitivity is low and the cost is high in the traditional electronic skin sensing technical scheme are solved.
Description
Technical Field
The utility model belongs to the technical field of the electron skin sensing, especially, relate to a non-contact electron skin sensing circuit and device.
Background
The electronic skin is a technology for generating touch sense for a robot, has a simple structure, can be processed into various shapes, can be attached to the surface of the robot like clothes, and can enable the robot to sense information parameters such as the position, the direction, the hardness and the like of an object. At present, the conventional electronic skin usually contacts the human body or object to collect the required information parameters, so as to achieve the identification function. However, such electronic skins cannot collect information parameters without contacting an object or a human body, that is, non-contact identification cannot be realized, and non-contact methods such as radar and laser are adopted, so that the sensing sensitivity at a short distance is low, and the cost is high.
Therefore, the traditional electronic skin sensing technical scheme has the problems of incapability of realizing non-contact identification, low perception sensitivity and high cost.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present invention provides a non-contact electronic skin sensing circuit and device, which aim to solve the problems of the conventional technical solution that non-contact identification cannot be realized, the sensing sensitivity is low and the cost is high.
A first aspect of the embodiments of the present invention provides a non-contact electronic skin sensing circuit, including:
the metal conductor is used for forming coupling capacitance with the conductor when the conductor exists in a preset range;
the fixed capacitor is connected with the metal conductor and used for providing a preset capacitance value;
the inductor is connected with the fixed capacitor and used for forming an LC oscillating circuit with the fixed capacitor;
the detection module is connected with the LC oscillation circuit and used for calculating the capacitance value of the coupling capacitor and the total capacitance value of the preset capacitance value and outputting the total capacitance value; and
and the processing module is connected with the detection module and used for analyzing the position information of the electric conductor according to the total capacitance value.
A second aspect of the embodiments of the present invention provides a non-contact electronic skin sensing device, including:
the non-contact electronic skin sensing circuit described above; and
and the mechanical arm is conducted with the metal to be insulated and isolated, and is used for operating according to the position information.
In the non-contact electronic skin sensing circuit and the non-contact electronic skin sensing device, a coupling capacitor is formed between the metal conductor and the conductor within a preset range, and the capacitance value of the coupling capacitor is inversely proportional to the distance between the conductor and the metal conductor; calculating the sum of the capacitance value of the coupling capacitor and a preset capacitance value by using a detection module and outputting a total capacitance value; and analyzing the position information of the electric conductor by using a processing module according to the total capacitance value. Therefore, only the electric conductor is required to appear in a preset range, the contact detection module is not required, the position information of the electric conductor can be analyzed by analyzing the size of the total capacitance value, close-distance non-contact identification is realized, the sensing sensitivity is high, and the problems that the non-contact identification cannot be realized, the sensing sensitivity is low and the cost is high in the traditional electronic skin sensing technical scheme are solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic block diagram of a non-contact electronic skin sensing circuit according to a first aspect of an embodiment of the present invention;
FIG. 2 is a schematic diagram of the connection between metal conductors in the non-contact electronic skin sensing circuit shown in FIG. 1;
fig. 3 is a circuit diagram illustrating an example of a non-contact electronic skin sensing device according to a second aspect of an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a schematic block diagram of a non-contact electronic skin sensing circuit according to a first aspect of an embodiment of the present invention is shown, for convenience of illustration, only the relevant portions of the non-contact electronic skin sensing circuit are shown, and detailed descriptions are as follows:
a first aspect of the embodiments of the present invention provides a non-contact electronic skin sensing circuit, including a metal conductor 100, a fixed capacitor Cx, an inductor L, a detection module 200, and a processing module 300.
The metal conductor 100 is used to form a coupling capacitance Cpl with a conductor when the conductor is present within a predetermined range.
Specifically, the capacitance value of the coupling capacitor Cpl is inversely proportional to the distance between the conductive body and the metal conductor 100, and in a preset range, the larger the distance between the conductive body and the metal conductor 100 is, the smaller the capacitance value is; the smaller the distance between the conductor and the metal conductor 100, the larger the capacitance value.
The electric conductor is a human body or an electrically conductive object.
The predetermined range specifically means a range within 20cm from the surface of the metal conductor 100.
The fixed capacitor Cx is connected to the metal conductor 100 for providing a predetermined capacitance value. In practical application, the fixed capacitor Cx can be replaced according to actual needs. Optionally, the fixed capacitor Cx is implemented by a capacitance value adjustable capacitor. Specifically, the fixed capacitance Cx is connected in parallel to the coupling capacitance Cpl described above.
The inductor L is connected with the fixed capacitor Cx and used for forming an LC oscillating circuit with the fixed capacitor.
Specifically, the LC tank has a fixed frequency f1, when the conductive object is present within a predetermined range, a coupling capacitance Cpl is formed between the metal conductive object and the conductive object, and the fixed capacitance Cx is connected in parallel with the coupling capacitance Cpl, so that a new tank having a frequency f2 is formed among the inductance L, the fixed capacitance Cx, and the coupling capacitance Cpl.
The detection module 200 is connected to the LC tank, and is configured to calculate a sum of a capacitance value of the coupling capacitor Cpl and a preset capacitance value, and output a total capacitance value.
Specifically, the fixed capacitor Cx is connected in parallel with the coupling capacitor Cpl, so that the total capacitance is equal to the capacitance of the coupling capacitor Cpl added to the predetermined capacitance, i.e. the total capacitance is Cpl + Cx.
The working principle of the detection module 200 is as follows: the frequency f2 is converted into a total capacitance value by collecting and comparing the fixed frequency f1 and the frequency f2, and then the preset capacitance value Cx is subtracted from the total capacitance value to obtain the capacitance value of the coupling capacitor Cpl.
The processing module 300 is connected to the detecting module 200 for analyzing the position information of the conductive object according to the total capacitance value. Optionally, the processing module 300 is implemented by a single chip, or a central controller.
The embodiment of the utility model provides a non-contact electronic skin sensing circuit, adopt the self-capacitance detection principle, when human body or electrically conductive object is not in the predetermined range, what detection module 200 gathered is fixed frequency f1 of LC oscillation circuit, what obtained after the calculation is the predetermined capacitance value of fixed electric capacity Cx; when a human body or a conductive object appears in a preset range, the coupling capacitor Cpl is introduced, and the capacitance value of the coupling capacitor Cpl changes along with the change of the distance between the conductive object and the metal conductor 100, so that the total capacitance value output by the detection module 200 after calculation changes correspondingly, and the position information of the human body or the conductive object is represented.
In the non-contact electronic skin sensing circuit, the metal conductor 100 and the electric conductor appearing in the preset range form a coupling capacitor Cpl, and the capacitance value of the coupling capacitor Cpl is inversely proportional to the distance between the electric conductor and the metal conductor 100; calculating the sum of the capacitance value of the coupling capacitor Cpl and the value of the fixed capacitor Cx by using a detection module 200 and outputting a total capacitance value; the processing module 300 is then used to analyze the position information of the electrical conductors based on the total capacitance. Therefore, only the electric conductor is required to appear in the preset range, the metal conductor 100 is not required to be contacted, the position information of the electric conductor can be analyzed by analyzing the size of the total capacitance value, the close-distance non-contact type identification is realized, the sensing sensitivity is high, and the problems that the non-contact type identification cannot be realized, the sensing sensitivity is low and the cost is high in the traditional electronic skin sensing technical scheme are solved.
Referring to fig. 2, a schematic diagram of a connection relationship between metal conductors 100 in the non-contact electronic skin sensing circuit shown in fig. 1 is shown, and for convenience of description, only the parts related to the present embodiment are shown, and detailed as follows:
in an alternative embodiment, the non-contact electronic skin sensing circuit includes a plurality of metal conductors 100, for example, including a metal conductor 1, a metal conductor 2, a metal conductor 3, and a metal conductor 4; the detection module 200 is rectangular. In another embodiment, the detection module 200 may be fan-shaped according to the size of the body covered by the electronic skin.
Moreover, every four metal conductors are electrically connected to four top corners of one detection module 200. For example, the metal conductor 1, the metal conductor 2, the metal conductor 3 and the metal conductor 4 are electrically connected to four corners of one detection module 200, respectively. Optionally, the metal conductor 1, the metal conductor 2, the metal conductor 3, and the metal conductor 4 are electrically connected to the detection module 200 by soldering.
Specifically, the detection module 200 is located within a preset range of the metal conductor 1, a preset range of the metal conductor 2, a preset range of the metal conductor 3, and a preset range of the metal conductor 4. When the conductive body is present in the range of the detection module 200, a first coupling capacitor, a second coupling capacitor, a third coupling capacitor and a fourth coupling capacitor are respectively formed between the conductive body and the metal conductor 1, the metal conductor 2, the metal conductor 3 and the metal conductor 4, the four coupling capacitors are respectively connected with the fixed capacitor Cx in parallel, the detection module 200 respectively calculates the sum of the capacitance values of the four coupling capacitors and a preset capacitance value, and respectively outputs four total capacitance parameters. The processing module 300 analyzes the four total capacitance values and obtains the precise position of the conductive object within the range of the detecting module 200.
For example, of the four total capacitance values, the first total capacitance value is the largest, the second total capacitance value is the next, the third total capacitance value is the next, and the fourth total capacitance value is the smallest. The electrical conductor is located closest to metal conductor 1, closer to metal conductor 2, farther from metal conductor 3, and farthest from metal conductor 4 within the range in which detection module 200 is located.
In an alternative embodiment, the metal conductor 100 is implemented using a copper sheet.
In an alternative embodiment, the metal conductor is a hollow structure.
In an alternative embodiment, the distance between every two metal conductors 100 is greater than or equal to 3mm, so as to avoid the formation of coupling capacitance between the metal conductors 100, which may affect each other, thereby reducing the accuracy and precision of detection.
Referring to fig. 3, an exemplary circuit diagram of a non-contact electronic skin sensing device according to a second aspect of the embodiment of the present invention is shown, for convenience of illustration, only the relevant portions of the embodiment are shown, and the detailed description is as follows:
a second aspect of the embodiments of the present invention provides a non-contact electronic skin sensing device, which includes the above-mentioned non-contact electronic skin sensing circuit, and further includes a mechanical arm.
Wherein, the mechanical arm is used for carrying out operation according to the position information. The mechanical arm is insulated from the metal conductor 100 to prevent the mechanical arm from forming a coupling capacitor with the metal conductor 100.
Optionally, plastic is placed between the mechanical arm and the metal conductor 100 to realize insulation isolation between the metal conductor 100 and the mechanical arm. Alternatively, an air isolation arrangement may be provided between the metal conductor 100 and the robot arm. Both plastic and air are insulators.
In an alternative embodiment, the metal conductor 100 is covered on a robot arm, so that the robot arm can know the position information of the conductor in real time during the operation.
In an alternative embodiment, the detection module 200 in the non-contact electronic skin sensing circuit is implemented by using a capacitive sensing chip U1.
Wherein, the first end of the metal conductor 100, the first end of the oscillation starting inductance L and the first end of the fixed capacitance Cx are connected with the first input end of the capacitive sensing chip U1 (indicated by IN0A IN fig. 3); the second end of the metal conductor 100 is grounded; the second end of the oscillation starting inductor L and the second end of the fixed capacitor Cx are connected with a second input end (represented by IN0B IN FIG. 3) of the capacitive sensing chip U1; the serial clock input (SCL in fig. 3) and the serial data output (SDA in fig. 3) of the capacitive sensing chip U1 are connected to the processing module 300. The crystal oscillator end (denoted by CLKIN in figure 3) of the capacitive sensing chip U1 is connected with a crystal oscillator source, and the oscillation frequency of the crystal oscillator source is 40 MHz.
Specifically, the start-up inductor L and the fixed capacitor Cx constitute an LC tank. The plurality of metal conductors 100 and the electric conductor form a coupling capacitor, such as a coupling capacitor C1 and a coupling capacitor C3 shown in fig. 3, and the plurality of metal conductors 100 and the plurality of oscillation circuits are connected in one-to-one correspondence. When the conductive body appears in the preset range, a coupling capacitor is formed, the oscillation frequency of the oscillation loop is changed by the appearance of the coupling capacitor, the capacitance value of the coupling capacitor is calculated by the capacitance sensing chip U1 through the collection of the oscillation frequency, the capacitance value of the coupling capacitor is added with the preset capacitance value of the fixed capacitor Cx to obtain a total capacitance value, and finally the total capacitance value is output to the processing module 300 for analysis.
The capacitive sensing chip U1 and the single chip microcomputer are in signal transmission through an I2C bus protocol.
Optionally, the non-contact electronic skin sensing device further comprises a power module 400. The power module 400 is connected to the detection module 200 and the processing module 300, and is configured to supply power to the detection module 200 and the processing module 300. Specifically, the power module provides 3.3V dc to the detection module 200 and the processing module 300.
To sum up, the embodiment of the present invention provides a non-contact electronic skin sensing circuit and device, which employs a metal conductor and an electric conductor appearing in a preset range to form a coupling capacitor, wherein the capacitance value of the coupling capacitor is inversely proportional to the distance between the electric conductor and the metal conductor; calculating the sum of the capacitance value of the coupling capacitor and a preset capacitance value by using a detection module and outputting a total capacitance value; and analyzing the position information of the electric conductor by using a processing module according to the total capacitance value. Therefore, only the electric conductor is required to appear in a preset range, the contact detection module is not required, the position information of the electric conductor can be analyzed by analyzing the size of the total capacitance value, close-distance non-contact identification is realized, the sensing sensitivity is high, and the problems that the non-contact identification cannot be realized, the sensitive sensing sensitivity is low and the cost is high in the traditional electronic skin sensing technical scheme are solved.
Various embodiments are described herein for various circuits and devices. Numerous specific details are set forth in order to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. However, it will be understood by those skilled in the art that the embodiments may be practiced without such specific details. In other instances, well-known operations, components and elements have been described in detail so as not to obscure the embodiments in the description. It will be appreciated by those of ordinary skill in the art that the embodiments herein and shown are non-limiting examples, and thus, it can be appreciated that the specific structural and functional details disclosed herein may be representative and do not necessarily limit the scope of the embodiments.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A non-contact electronic skin sensing circuit, comprising:
the metal conductor is used for forming coupling capacitance with the conductor when the conductor exists in a preset range;
the fixed capacitor is connected with the metal conductor and used for providing a preset capacitance value;
the inductor is connected with the fixed capacitor and used for forming an LC oscillating circuit with the fixed capacitor;
the detection module is connected with the LC oscillation circuit and used for calculating the capacitance value of the coupling capacitor and the total capacitance value of the preset capacitance value and outputting the total capacitance value; and
and the processing module is connected with the detection module and used for analyzing the position information of the electric conductor according to the total capacitance value.
2. The non-contact electronic skin sensing circuit of claim 1, comprising a plurality of the metallic conductors.
3. The non-contact electronic skin sensing circuit according to claim 1 or 2, wherein the metal conductor is a copper sheet.
4. The non-contact electronic skin sensing circuit according to claim 2, wherein the detecting module is rectangular or fan-shaped, and the plurality of metal conductors are electrically connected to the top corners of the detecting module, respectively.
5. The non-contact electronic skin sensing circuit of claim 2, wherein the plurality of metal conductors have a distance between each other of greater than or equal to 3 mm.
6. The non-contact electronic skin sensing circuit according to claim 1 or 2, wherein the metal conductor is a hollow structure.
7. A non-contact electronic skin sensing device, comprising;
a non-contact electronic skin sensing circuit according to any one of claims 1 to 6; and
and the mechanical arm is arranged in an insulation and isolation manner with the metal conductor and is used for operating according to the position information.
8. The non-contact electronic skin sensing device according to claim 7, wherein the metallic conductor overlies the robotic arm.
9. The non-contact electronic skin sensing device according to claim 7, wherein said robotic arm is disposed in insulating isolation from said metallic conductor comprising:
plastic or air is used for isolation.
10. The non-contact electronic skin sensing device according to claim 7, further comprising:
and the power supply module is connected with the detection module and the processing module and used for supplying power to the detection module and the processing module.
Priority Applications (17)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921252998.9U CN211855191U (en) | 2019-08-02 | 2019-08-02 | Non-contact electronic skin sensing circuit and device |
| EP19940902.0A EP3842732A4 (en) | 2019-08-02 | 2019-09-17 | Housing, housing module and mechanical arm of mechanical equipment, and robot |
| PCT/CN2019/106040 WO2021022626A1 (en) | 2019-08-02 | 2019-09-17 | Sensing circuit, logic circuit board, joint control board, main controller board, and robot |
| CN201980041855.XA CN112512752A (en) | 2019-08-02 | 2019-09-17 | Obstacle avoidance method and device of device and controller |
| PCT/CN2019/106042 WO2021022628A1 (en) | 2019-08-02 | 2019-09-17 | Housing module of mechanical equipment, and robot |
| CN201980041854.5A CN112513558B (en) | 2019-08-02 | 2019-09-17 | Mechanical equipment's casing, casing subassembly, arm and robot |
| CN201980042452.7A CN112513580A (en) | 2019-08-02 | 2019-09-17 | Mechanical equipment shell and robot |
| CN201980041853.0A CN112512761B (en) | 2019-08-02 | 2019-09-17 | Housing assembly of mechanical equipment and robot |
| EP19940388.2A EP3842189A4 (en) | 2019-08-02 | 2019-09-17 | Obstacle avoidance method for apparatus, and apparatus and controller |
| PCT/CN2019/106043 WO2021022629A1 (en) | 2019-08-02 | 2019-09-17 | Housing, housing module and mechanical arm of mechanical equipment, and robot |
| PCT/CN2019/106041 WO2021022627A1 (en) | 2019-08-02 | 2019-09-17 | Housing of mechanical device and robot |
| CN201980041894.XA CN112400143B (en) | 2019-08-02 | 2019-09-17 | Sensing circuit, logic circuit board, joint control board, master controller board and robot |
| PCT/CN2019/106039 WO2021022625A1 (en) | 2019-08-02 | 2019-09-17 | Obstacle avoidance method for apparatus, and apparatus and controller |
| EP19940864.2A EP3842733A4 (en) | 2019-08-02 | 2019-09-17 | Sensing circuit, logic circuit board, joint control board, main controller board, and robot |
| US17/213,163 US12123713B2 (en) | 2019-08-02 | 2021-03-25 | Housing, housing assembly, mechanical arm, and robot of mechanical equipment |
| US17/213,173 US12130132B2 (en) | 2019-08-02 | 2021-03-25 | Method and device of avoiding robot from obstacle, and controller |
| US17/214,718 US12050101B2 (en) | 2019-08-02 | 2021-03-26 | Sensing circuit, logic circuit board, joint control board, main controller board, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921252998.9U CN211855191U (en) | 2019-08-02 | 2019-08-02 | Non-contact electronic skin sensing circuit and device |
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| CN211855191U true CN211855191U (en) | 2020-11-03 |
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| CN201921252998.9U Active CN211855191U (en) | 2019-08-02 | 2019-08-02 | Non-contact electronic skin sensing circuit and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113570952A (en) * | 2021-06-28 | 2021-10-29 | 深圳市越疆科技有限公司 | Portable display device based on electronic skin |
| CN113639767A (en) * | 2021-10-12 | 2021-11-12 | 江苏集萃脑机融合智能技术研究所有限公司 | Intelligent electronic target identification method for skin |
-
2019
- 2019-08-02 CN CN201921252998.9U patent/CN211855191U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113570952A (en) * | 2021-06-28 | 2021-10-29 | 深圳市越疆科技有限公司 | Portable display device based on electronic skin |
| CN113639767A (en) * | 2021-10-12 | 2021-11-12 | 江苏集萃脑机融合智能技术研究所有限公司 | Intelligent electronic target identification method for skin |
| CN113639767B (en) * | 2021-10-12 | 2022-02-08 | 江苏集萃脑机融合智能技术研究所有限公司 | Intelligent electronic target identification method for skin |
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