WO2019056742A1

WO2019056742A1 - Robot skin touch sensing system and method

Info

Publication number: WO2019056742A1
Application number: PCT/CN2018/082891
Authority: WO
Inventors: 王超
Original assignee: 南京阿凡达机器人科技有限公司
Priority date: 2017-09-21
Filing date: 2018-04-12
Publication date: 2019-03-28
Also published as: CN107560765A

Abstract

A robot skin touch sensing system and method, comprising: a robot housing (10) and a robot body (20). The robot housing (10) is provided on the outer surface of the robot body (20). From outside to inside, the robot housing (10) sequentially comprises: a magnetic piece (12); an elastic filling material (13), provided on the inner surface of the magnetic piece (12); and a hard housing (14), made of a non-magnetic material, provided on the inner surface of the elastic filling material (13), and wrapping the outer surface of the robot body (20). The robot body (20) comprises a magnetic induction piece (21) matching the magnetic piece (12). According to the robot skin touch sensing system and method, a sensor is provided inside a robot and is protected by the hard housing (14), so that the sensor system is protected from being damaged by external force; pressure is indirectly measured, and the hard housing (14) does not need to be perforated, thereby reducing design difficulty.

Description

Robot skin touch detection system and method

The present application claims priority to Chinese Patent Application Serial No. No. No. No. No. No. No. No. No. No. No. No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No.

Technical field

The invention relates to the field of robots, in particular to a robot skin touch detection system and method.

Background technique

With the rapid development of robotics technology, human beings are increasingly demanding robot products. Humanoid robots, as the kind of robots closest in form to humans, are increasingly entering human life. Products such as robot assistants and robot butlers are emerging one after another. The user puts forward higher requirements for the humanoid robot's degree of humanoidity. To improve the degree of humanoid humanoid, humanoid robots need to have a sensory system similar to human beings. Touching is one of the important senses of human beings, and it has become a robotic field. research focus.

The conventional robot skin touch detection system, referring to FIG. 5, fixes the pressure sensor 51 on the hard outer casing 14 of the robot, and the outer cover of the soft outer cover 40, and the signal line of the pressure sensor 51 needs to be transmitted through the hard outer casing 40 to the inside of the robot 60. The signal receiving module 61, whose power supply line requires the power supply module 23 to be provided through the hard casing 14, and the pressure sensor 51 is directly subjected to external pressure.

The current design has the following problems:

1. In use, the pressure sensor 51 directly withstands external pressure, and the pressure sensor 51 is easily damaged due to problems such as mechanical strength and material aging, and reliability is not easily ensured.

2. In design, it is necessary to consider the mechanical strength of the plurality of components (the pressure sensor 51, the hard outer casing 14, the signal line and the power supply line of the pressure sensor 51), and the power supply line and the signal line of the pressure sensor 51 need to pass through. The hard outer casing 14 and the cable are fixed, resulting in a complicated structural design.

Summary of the invention

The object of the present invention is to provide a robot skin touch detection method and system, which protects the sensor system from external force by deploying the sensor inside the robot and using a hard outer casing protection; by indirectly measuring the pressure, the hard outer casing does not need to be opened. Hole design reduces design difficulty.

The technical solution provided by the present invention is as follows:

A robot skin touch detection system includes: a robot shell and a robot body, wherein the robot shell is disposed on an outer surface of the robot body; and the robot shell comprises, in order from the outside and the inside, a magnetic member; an elastic filling material, An inner surface of the magnetic member; a hard outer casing using a non-magnetic material, disposed on an inner surface of the elastic filling material, and covering an outer surface of the robot body; the robot body comprising: Magnetic induction components with magnetic components.

In the above technical solution, by changing the direct pressure measurement to the indirect magnetic field strength measurement, the sensor is protected in the hard outer casing, and the external pressure does not directly exert a direct force on the measuring system, thereby improving the durability of the measuring system; Measuring pressure, the hard case does not require a hole design, reducing design difficulty.

Further, the magnetic member and the magnetic induction member are disposed opposite to each other.

In the above technical solution, the magnetic member and the magnetic induction member are disposed directly to maximize the magnetic field strength while also reducing the influence on other surrounding magnetic members.

Further, the robot housing further includes: an elastic skin, the magnetic member being disposed on the inner or inner surface of the elastic skin.

In the above technical solution, the elastic outer skin wrapping is added, the user feels better, and the magnetic member has a protective effect.

Further, an inner surface of the elastic outer skin is provided with a mounting groove, and the magnetic member is installed in the mounting groove; and the opening of the mounting groove is provided with a blocking portion.

In the above technical solution, an installation method in which the magnetic member is mounted on the elastic outer skin is given.

Further, the magnetic member is adhered to the inner surface of the elastic skin.

In the above technical solution, another mounting method in which the magnetic member is mounted on the elastic outer skin is given.

Further, the magnetic induction component is configured to detect a magnetic field strength between the magnetic induction component and a corresponding magnetic component and convert it into a voltage value; the robot body further includes: a voltage signal receiving module, and the magnetic induction component And an electrical connection, configured to calculate a corresponding external pressure value according to the voltage value converted by the magnetic induction component and the preset correspondence table.

In the above technical solution, the direct pressure measurement is changed to the indirect magnetic field strength measurement, the magnetic field strength is converted into a voltage value, and the corresponding external pressure value is calculated from the voltage value, thus perfecting the measurement of the external pressure.

Further, the magnetic induction component employs a Hall sensor.

In the above technical solution, the Hall sensor is used to measure the magnetic field strength, and the magnetic field strength is converted into a voltage value.

Further, the elastic outer skin is made of a silicone outer skin.

In the above technical solution, since the elasticity and adsorption of the silica gel material are good, it is recommended to use a silicone outer skin.

The present invention also provides a robot skin touch sensing method, comprising: providing an elastic filling material and a hard outer casing between the magnetic sensing component and the corresponding magnetic member; detecting a magnetic field strength between the magnetic sensing component and the corresponding magnetic component And converting it into a voltage value; calculating a corresponding external pressure value according to the voltage value converted by the magnetic induction component and the preset correspondence table.

In the above technical solution, a method is provided to change the direct pressure measurement to the indirect measurement, so that the circuit parts of the sensor and the measurement system are all disposed inside the robot to be protected from external force; at the same time, the hard outer casing is also avoided. Opening design.

Further, when a new magnetic component appears around the magnetic member corresponding to the magnetic induction component, the preset correspondence table is updated.

In the above technical solution, when the number of magnetic components changes, even if other factors do not change, for example, when the external pressure is always 0, the magnetic field strength measured by the magnetic induction component may still change, thereby causing a change in the voltage value, if the preset corresponds to The table is not updated and will result in an incorrect external pressure value.

The robot skin touch detection method and system provided by the invention can bring at least one of the following beneficial effects:

1. The present invention improves the durability of the pressure measuring system by deploying the sensor inside the robot and protecting it with a hard outer casing to protect the sensor system from external forces.

2. The invention measures the pressure indirectly, and the hard outer casing does not need the opening design, which reduces the design difficulty.

DRAWINGS

The above-described characteristics, technical features, advantages and implementations of a robot skin touch detection method and system will be further described below in a clear and understandable manner with reference to the accompanying drawings.

1 is a schematic structural view of an embodiment of a robot skin touch detection system of the present invention;

2 is a schematic structural view of another embodiment of a robot skin touch detection system of the present invention;

3 is a flow chart of an embodiment of a robot skin touch detection method of the present invention;

4 is a flow chart of another embodiment of a robot skin touch detection method of the present invention;

Fig. 5 is a schematic structural view of an embodiment of a conventional robot skin touch detection system.

Description of the reference numerals:

10. Robot shell, 11. elastic skin, 12. magnetic parts, 13. elastic filling material, 14. hard shell, 20. robot body, 21. magnetic induction unit, 22. voltage signal receiving module, 23. power supply module, 40 Soft skin, 51. Pressure sensor, 60. Robot internal, 61. Signal receiving module.

Detailed ways

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other drawings according to the drawings without obtaining creative labor, and obtain Other embodiments.

In order to simplify the drawings, only the parts related to the present invention are schematically shown in the drawings, and they do not represent the actual structure of the product. In addition, in order to make the drawings simple and easy to understand, components having the same structure or function in some of the figures are only schematically illustrated, or only one of them is marked. In the present context, "a" means not only "only one" but also "more than one".

In an embodiment of the present invention, as shown in FIG. 1, a robot skin touch detection system includes:

a robot housing 10 and a robot body 20, the robot housing 10 is disposed on an outer surface of the robot body 20; the robot housing 10 includes, in order from the outside and the inside:

Magnetic member 12;

An elastic filling material 13 is disposed on an inner surface of the magnetic member 12;

a hard outer casing 14 of a non-magnetic material is disposed on an inner surface of the elastic filling material 13 and coated on an outer surface of the robot body 20;

The robot body 20 includes a magnetic induction component 21 that cooperates with the magnetic member 12.

Specifically, the robot skin touch detection system is composed of a robot housing 10 and a robot body 20; the robot housing 10 includes a magnetic member 12, an elastic filling material 13, and a hard outer casing 14 in order from the outside and the inside; the robot The body 20 includes a magnetic induction component 21 that mates with the magnetic member 12.

The elastic filling material 13 is required to have good elasticity and a certain hardness. For example, a polyurethane foam material or an EVA foam material is too soft, and the small force is easily caused to cause the maximum deformation of the elastic filler material 13. When the external pressure is increased, it cannot be reflected by the deformation. The elastic filling material may be provided only partially on the magnetic member or may cover the entire hard outer casing, preferably covering the entire hard outer casing, as in the subsequent embodiments.

The hard outer casing 14 made of a non-magnetic material is formed of a hardened material, such as a hard plastic, and needs sufficient pressure resistance to protect the components in the robot body 20 from external force.

The elastic filling material 13 is deformed when the robot is subjected to external pressure. When the elastic filler material 13 is deformed, the strength of the magnetic field between the magnetic member 12 and the mating magnetic induction member 21 also changes. In this way, the change in external pressure is converted into a change in the strength of the magnetic field, and the measurement of the external pressure is converted into a measurement of the strength of the magnetic field.

A magnetic member 12 and a mating magnetic induction component 21 are equivalent to a conventional pressure sensor. The robot skin touch detection system includes at least one magnetic component 12 and a mating magnetic induction component 21, each magnetic component 12 and the mating magnetic induction component 21 being The deployment on the robot is as described in this embodiment, so it will not be repeated here.

Preferably, the magnetic member 12 and the magnetic sensing member 21 are disposed opposite to each other.

Specifically, the magnetic member 12 and the magnetic sensing member 21 are disposed directly to maximize the strength of the magnetic field while also reducing the influence on the surrounding magnetic members 12.

Preferably, the robot housing 10 further includes an elastic outer skin 11 disposed on the inner or inner surface of the elastic outer skin 11.

Specifically, the elastic outer skin 11 is wrapped to not only make the user feel better, but also to conduct external pressure to the elastic filling material 13, and also protect the magnetic member. The magnetic member 12 may be disposed inside the elastic outer skin 11 or on the inner surface of the elastic outer skin 11. For example, the inner surface of the elastic outer skin 11 is provided with a mounting groove, and the magnetic member 12 is adhered in the mounting groove. The inner surface of the elastic outer skin 11 is adjacent to one side of the elastic filling material.

Preferably, the inner surface of the elastic skin 11 is provided with a mounting groove, and the magnetic member 12 is installed in the mounting groove; and the opening of the mounting groove is provided with a blocking portion.

Specifically, the magnetic member 12 is mounted on an elastic outer skin, and the blocking portion helps the magnetic member 12 to be fixed in the mounting groove.

Preferably, the magnetic member 12 is adhered to the inner surface of the elastic skin 11.

Specifically, the magnetic member 12 is mounted on the elastic outer skin 11 in another manner, and the magnetic member 12 is adhered to the inner surface of the elastic outer skin 11.

Preferably, the magnetic induction component 21 is configured to detect a magnetic field strength between the magnetic induction component 21 and the corresponding magnetic component 12 and convert it into a voltage value; the robot body 20 further includes: a voltage signal receiving module 22 And electrically connected to the magnetic induction component 21 for calculating a corresponding external pressure value according to the voltage value converted by the magnetic induction component 21 and a preset correspondence table.

Specifically, the preset correspondence table is a voltage value-external pressure value correspondence table; the voltage value and the external pressure value are one-to-one mapping relationship, but not necessarily a linear relationship, and the relationship between the two can be obtained by measurement For example, the sampling accuracy is set to 1N, and the voltage values corresponding to 0N, 1N, 2N, 3N, ... are measured, and a conversion relationship with a measurement accuracy of 1N is established.

Preferably, the magnetic induction component 21 employs a Hall sensor.

Specifically, the magnetic induction component 21 converts the magnetic induction intensity measurement into a voltage measurement by using a Hall effect using a common Hall sensor, which is low in cost, small in size, and low in power consumption, and is suitable for a sensor that requires a large number of measurement units. Network use.

Preferably, the elastic outer skin 11 is made of a silicone outer skin.

Specifically, the silica gel material has good elasticity, good adsorption, and wide application, and is suitable for use in a robot skin.

In another embodiment of the present invention, as shown in FIG. 2, a robot skin touch detection system includes:

Magnetic member 12;

The robot body 20 includes: a magnetic induction component 21 that cooperates with the magnetic member 12;

The magnetic member 12 and the magnetic sensing member 21 are disposed opposite to each other;

The robot housing 10 further includes: an elastic outer skin 11 disposed on the inner or inner surface of the elastic outer skin 11;

The inner surface of the elastic outer skin 11 is provided with a mounting groove, and the magnetic member 12 is mounted in the mounting groove; the opening of the mounting groove is provided with a blocking portion;

The magnetic induction component 21 is configured to detect a magnetic field strength between the magnetic induction component 21 and the corresponding magnetic component 12 and convert it into a voltage value;

The robot body 20 further includes:

The voltage signal receiving module 22 is electrically connected to the magnetic induction component 21 for calculating a corresponding external pressure value according to the voltage value converted by the magnetic induction component and the preset correspondence table;

The power supply module 23 is electrically connected to the magnetic induction component 21, and the power supply module 23 is configured to supply power to the magnetic induction component 21;

The inner surface of the elastic outer skin 11 is provided with a mounting groove, and the magnetic member 12 is mounted in the mounting groove;

a stop at the opening of the mounting groove;

The magnetic induction component 21 uses a Hall sensor;

The elastic outer skin 11 is made of a silicone outer skin;

The magnetic member 12 is a magnet.

Specifically, the present embodiment changes the measurement of the pressure from the direct measurement to the indirect measurement, and all of the circuit portions are protected within the hard outer casing 14. When the external pressure acts on the robot housing 10, the silicone sheath of the robot housing 10 and the elastic filling material 13 are deformed, the distance between the magnetic member 12 on the silicone sheath and the mating magnetic sensing member 21 is changed, and the magnetic sensing member 21 measures the varying magnetic field. The intensity value, converted to a voltage value, is passed to the voltage signal receiving module 22. The voltage signal receiving module 22 calculates a corresponding external pressure value according to the voltage value and the preset correspondence table.

The magnetic member 12 is mounted in a mounting groove of the silicone outer casing, and a side away from the bottom surface of the mounting groove is not higher than an inner surface of the elastic outer skin 11. The opening of the mounting groove is provided with a blocking portion to help fix the magnetic member 12 at Install in the slot.

The magnetic induction unit 21 converts the magnetic field strength into a voltage value using a Hall effect using a common Hall sensor.

In another embodiment of the present invention, as shown in FIG. 3, a robot skin touch detection method includes:

An elastic filling material and a hard outer casing are disposed between the S000 magnetic induction component and the corresponding magnetic component;

S100 detects a magnetic field strength between the magnetic induction component and the corresponding magnetic member, and converts the magnetic field strength into a voltage value;

S200 calculates a corresponding external pressure value according to the voltage value converted by the magnetic induction component and the preset correspondence table.

Specifically, an elastic filling material and a hard outer casing are disposed between the magnetic induction component and the corresponding magnetic component, and the deformation of the elastic filler material changes the change of the external pressure into a change of the magnetic field strength; the magnetic induction component converts the magnetic field strength into The voltage value, the voltage receiving module further checks the preset value table by the voltage value, and calculates a corresponding external pressure value; the preset correspondence table is a mapping relationship between the voltage value and the external pressure value, and is obtained through testing. There is a one-to-one mapping between the voltage value and the external pressure value.

In another embodiment of the present invention, as shown in FIG. 4, a robot skin touch detection method includes:

S200 calculates a corresponding external pressure value according to the voltage value converted by the magnetic induction component and the preset correspondence table;

S300 updates the preset correspondence table when a new magnetic component appears around the magnetic member corresponding to the magnetic induction component.

Specifically, compared with the previous embodiment, the embodiment adds an update of the preset correspondence table; the preset correspondence table is a mapping relationship between the voltage value and the external pressure value; when the number of the magnetic components changes, even Other factors have not changed. For example, if the external pressure is always 0, the magnetic field strength measured by the magnetic induction component may still change, resulting in a change in the voltage value. If the preset correspondence table is not updated, the calculated external pressure value will be deviated. If the deviation is too large, it may cause subsequent execution errors. It is generally recommended that after the magnetic components and corresponding magnetic induction components included in the robot skin touch system are all determined, the mapping relationship between the voltage value and the external pressure value is performed.

It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims

A robot skin touch detection system, comprising:

a robot housing and a robot body, the robot housing being disposed on an outer surface of the robot body;

The robot casing, in order from the outside and the inside, comprises:

Magnetic member

An elastic filling material disposed on an inner surface of the magnetic member;

a hard outer casing using a non-magnetic material, disposed on an inner surface of the elastic filling material, and covering an outer surface of the robot body;

The robot body includes: a magnetic induction component that cooperates with the magnetic member.
The robot skin touch detection system according to claim 1, wherein said magnetic member and said magnetic sensing member are disposed in a facing orientation.
The robot skin touch detection system according to claim 1, wherein:

The robot housing further includes an elastic outer skin, and the magnetic member is disposed on the inner or inner surface of the elastic outer skin.
The robot skin touch detection system according to claim 3, wherein:

The inner surface of the elastic outer skin is provided with a mounting groove, and the magnetic member is installed in the mounting groove;

A stopper is provided at an opening of the mounting groove.
The robot skin touch detection system according to claim 3, wherein:

The magnetic member is adhered to an inner surface of the elastic skin.
The robot skin touch detection system according to claim 1, wherein:

The magnetic induction component is configured to detect a magnetic field strength between the magnetic induction component and a corresponding magnetic component and convert it into a voltage value;

The robot body further includes:

The voltage signal receiving module is electrically connected to the magnetic induction component for calculating a corresponding external pressure value according to the voltage value converted by the magnetic induction component and the preset correspondence table.
The robot skin touch detection system according to claim 1, wherein:

The magnetic induction component uses a Hall sensor.
The robot skin touch detection system according to claim 3, wherein:

The elastic outer skin is made of a silicone outer skin.
A robot skin tactile sensation detecting method for use in the robot skin tactile sensation detecting system according to any one of claims 1-8, characterized in that it comprises:

An elastic filling material and a hard outer casing are disposed between the magnetic induction component and the corresponding magnetic member;

Detecting a magnetic field strength between the magnetic induction component and the corresponding magnetic member and converting it into a voltage value;

Corresponding external pressure values are calculated according to the voltage value converted by the magnetic induction component and the preset correspondence table.
The robot skin touch detection method according to claim 9, wherein:

When a new magnetic component appears around the magnetic member corresponding to the magnetic induction component, the preset correspondence table is updated.