CS209046B1 - Connection of connecting mudule of matrix tactile scanner with computer - Google Patents

Description

(54) Connection of matrix tactile sensor connection module with computer

BACKGROUND OF THE INVENTION 1. Field of the Invention The invention relates to a connection module, an interface, which is used to transfer information from a tactile sensor to a computer memory.

Requirement of the current period of science development and technology leads to an increasingly intensive research into the replacement of monotonous activities performed by man; automatic device such as a robot. ·; Higher-generation robots require information from the environment in which they operate to operate. This function is realized by various types of sensors and sensors.

In many cases, it is sufficient for the robot's operation to have the information it receives through touch. One type of tactile - tactile - sensor is created by a plurality of tactile sensors, even suitably arranged in a matrix shape and placed on the palm of a five - fingered anthropomorphic artificial hand. Because the information from this tactile sensor needs to be memorized as successfully as possible! computers, it is necessary to create the necessary technical means.

This problem is solved by the connection module of the matrix tactile sensor, whose power lines are connected to the switching circuit of the forming line of the forming circuit, with a computer according to the invention, whose essence is that the outputs of the forming circuits are connected computer duplex registry. Computer output for setting I! Initial conditions, the output of the signaling are connected to the control module of the linker module. The first output of the control block is connected to the computer, the second output of the control block is connected to the control input of the switching circuit, and the third output is connected to the input of the switching circuit of the transistors of the linking module and the output of the switching circuit is connected to the switching circuit.

In this configuration, the connector module immediately connects to the tactile information source, ie the matrix tactile sensor. This connection allows the buffer to be drained and greatly simplified. Furthermore, the circuitry according to the invention allows relatively quick and easy removal of tactile information and its relatively quick and easy transfer to a computer for further processing.

The invention is explained in more detail by way of example with reference to the accompanying drawing, in which the circuit according to the invention is shown in block.

The matrix tactile sensor 1 is designed as a regular square grid, in whose nodes the tactile sensors are located. The distance between the centers of the sensors is exemplary

3.2 mm and a sensor diameter of, for example, 2 mm. The sensors are based on semiconducting rubber. The tactile matrix sensor 1 consists of a network of 2 sensors and a diode matrix 3.

The power lines of the matrix tactile sensor are connected to the switching circuit and the sensor strips

the matrix tactile sensors 1 are connected to the forming circuits 4, the outputs of which are connected via the switching circuit 5 of the coupler module 10 and the input of the duplex register of the computer 6, for example M 6000. The first output of the control block 9 is connected to the computer 6, the second output of the control block 9 is connected to the control input of the switching circuit 5 and the third output is connected to the switching circuit 7 via the switching circuit 8 of the transistors of the coupler 10.

The matrix tactile sensor 1 is made up of two | These lines have a matrix tactile sensor 1 of twenty-three and each of them can be connected to the supply voltage by the switching circuit 7. The undesired parallel assignment of the resistances of other sensors to the sensed elements is prevented by the diode matrix 3. The continuous signal i from the sensors in the forming circuits 4 is converted into a two-state signal. The forming circuits 4 have a suitably set threshold, which was determined based on experimentally determined sensor properties. For each sensor line to which sensors are connected via separating diodes, one shaping circuit 4 is connected. Of the first sixteen shaping circuits 4 responsive to the sensor signal, the generated signal is routed through the switching circuit 5 to the duplex J register of computer 6 and from there through the internal circuits of the computer 6 to the operating memory. The entire word is always transferred in parallel to the memory of the computer. After the transfer-.

After switching the first word, the switching circuit 5 switches to the second group of sixteen forming circuits 4 and the

6. After transferring this second word, the removed sensor row is disconnected from the power supply and another row of thirty-two sensors is connected to the power supply. At the same time, the switching circuit 5 connects the outputs of the first group of sixteen forming circuits 4 of the new row to the duplex register of the computer 6 and the whole scanning process is repeated cyclically until the states of all twenty-three sensor rows are transferred to the memory.

To control the entire coupler module 10, a control block 9 is provided which generates control signals OS for the switching circuit 5 and control signals RS for the switching circuit 8 of the transistors. The control block 9 also generates a signal GT to communicate with the computer 6 and at the same time generates the necessary delays of the individual signals within the coupler module 10. The transistor switching circuit 8 generates a signal for switching the respective scan line of the matrix tactile sensor 1 to voltage via the switching circuits 7.

Furthermore, a signal VP is used to communicate between the computer 6 and the coupler module 10. The coupler 10 using the GT signal signals the connection of the scanned 16 sensors to the duplex register input of the computer 6, and the computer 6 signals the completion of the information transfer operation by the signal VP. The OST signal is used to set the initial conditions, ie the first line and the first sixteen sensors.

Claims (1)

SUBJECT OF THE INVENTION Connection of matrix tactile sensor connection module to a computer whose power lines are connected to the switching circuit and forming circuit sensing lines, to the computer, characterized in that the outputs of the forming circuit (4) are connected via the switching circuit (5) of the connection module I ( 10) to input the duplex register of the computer (6),! whose output to set initial conditions; and the signaling output is coupled to the control module (9) of the coupler module (10), the first {| the output of the control block (9) is connected to a computer (6), the second output of the control block (9) is connected to the control input of the switching circuit (5) and the third output is connected to the input of the switching circuit (8) of the transistor module (10) and the output of the switching circuit (8) is connected to the switching circuit 7).