WO2020147447A1 - 材料识别和分类方法及其系统 - Google Patents

材料识别和分类方法及其系统 Download PDF

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Publication number
WO2020147447A1
WO2020147447A1 PCT/CN2019/122857 CN2019122857W WO2020147447A1 WO 2020147447 A1 WO2020147447 A1 WO 2020147447A1 CN 2019122857 W CN2019122857 W CN 2019122857W WO 2020147447 A1 WO2020147447 A1 WO 2020147447A1
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probe
module
voltage
electrostatic
materials
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French (fr)
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董桂芳
郭航
荣欣
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Tsinghua University
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Tsinghua University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/60—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating electrostatic variables, e.g. electrographic flaw testing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/30—Investigating strength properties of solid materials by application of mechanical stress by applying a single impulsive force, e.g. by falling weight

Definitions

  • This application relates to a method and system for identifying and classifying materials, and belongs to technologies and systems related to sensors that identify materials based on their electrical characteristics.
  • electrostatic sequence is a sequence in which various substances are arranged in sequence according to the polarity of static electricity generated when two substances are in contact with each other. According to this sequence, when the two substances are in contact, the former is positively charged and the latter is negatively charged. It can be explained by the different work functions of various substances or the different polar groups of the substances.
  • the electrical polarity is also related to factors such as temperature and impurities. That is to say, when objects of different substances are in contact with each other, one object must be positively charged, and the other object must be negatively charged.
  • the electrostatic sequence refers to the deduction sequence that focuses on the positive and negative charges and arranges the matter in the order from positive to negative. The following is a sequence of contact with static electricity:
  • nylon is the easiest to lose electrons
  • polytetrafluoroethylene is the easiest to get electrons. Any substance in the sequence rubs against the substance behind it, the former is positively charged and the latter is negatively charged.
  • nylon is in frictional contact with polyethylene, nylon is positively charged, and polyethylene is negatively charged.
  • the inventor has conducted research on several material objects with different electrostatic sequences.
  • an array of one or more probes has been prepared.
  • Each probe in the array is integrated with different known materials.
  • determine which material is on the probe, or determine the electrostatic sequence of the measured material relative to the probe The position of the electrostatic sequence of different materials.
  • the purpose of this application is to propose a method and system for automatic identification and classification of a material.
  • a material identification and classification method is characterized in that it comprises: forming an array of one or several probes on a substrate with one or several known materials with different electrostatic sequences, and combining the tested material with the The known material surface of one or several probes approaches, touches or leaves, and detects the voltage or current signal on the one or several probes before, approaching, touching, leaving, or after the material being tested approaches, according to the voltage or The current signal is used to identify and classify the measured material.
  • the one or more probes further respectively have conductive electrodes, the known material is formed on the conductive electrodes, and the voltage or current signal is derived from the conductive electrodes.
  • the electrode leads out.
  • the electrical signal of each probe before the measured material is approached as a reference, when there is no voltage change or current signal on one probe and the other probes have voltage change or
  • the measured material is identified as the known material of the probe without voltage change or current signal.
  • the electrical signal of each probe before the measured material is approached as a reference, when the voltage signal changes on all the probes are negative or the current signals are negative first and then positive
  • the measured material is classified as a known material whose electrostatic sequence is smaller than that of the probe with the smallest electrostatic sequence in the array
  • the voltage signal changes on the two probes closest to the electrostatic sequence in the array appear
  • the electrical sign is opposite or the current signal appears first negative then positive and first positive then negative
  • classify the measured material as a material whose electrostatic sequence is between the known materials of the two probes closest to the electrostatic sequence in the array Category
  • the voltage signal changes on all probes are positive or the current signals are positive first and then negative
  • classify the measured material as a known material whose electrostatic sequence is greater than that of the probe with the largest electrostatic sequence in the array Material category.
  • a material identification and classification system is used to implement the above-mentioned material identification and classification method, including: a probe module, an electrical signal acquisition module, an electrical signal analysis and processing module, a material determination module, a measured material movement module, and a control module
  • the probe module includes one or several probes made of one or several known materials with different electrostatic sequences
  • the control module sets control information according to the parameters of the probe module for controlling the electrical signal Work of the acquisition module, the electrical signal analysis and processing module, the material determination module, and the measured material movement module
  • the electrical signal acquisition module is matched with the probe module under the control of the control module to Collect the electrostatic sequence information between the known material and the measured material on each probe of the probe module, including picking up its voltage signal or current signal
  • the electrical signal analysis and processing module is used to analyze the electrical signal from the electrical signal
  • the voltage signal or current signal of the acquisition module is analyzed and processed to obtain a comparable electrical signal representing the electrostatic sequence relationship between the known material of the probe and the measured material, and provide it to the material
  • the material identification and classification system further includes: a result display module, which displays the identified material or the classified material category according to the information provided by the material determination module.
  • the contact between the tested material and the known material surface of the probe further includes frictional contact.
  • the voltage and current changes in the present application are the result of multiple frictions.
  • the area of the measured material and the known material surface of the probe can be adjusted as required, the distance change rate between the two can be adjusted, and the pressure between the two can be adjusted. Tune.
  • the material to be tested and the surface of the known material of the probe can be subjected to electrostatic discharge treatment when needed.
  • the identification and classification of object material types such as artificial electronic skin or gloves can routinely sense pressure and temperature on certain occasions, and at the same time identify and classify the material and type of the material, which is blind.
  • the glove user can provide more information about the recognized object; the manipulator in industrial production can identify and classify each material from the collection of objects mixed with multiple materials; in the application of monitoring the authenticity of a certain material , The identification and classification of materials will also play an important role.
  • Figure 1 shows a schematic diagram of the changes in surface charge and voltage (potential) when materials of different electrostatic sequences approach, contact and leave when the electrostatic sequence of material A is greater than the electrostatic sequence of material B.
  • Figure 1(a) shows that the two materials approach, The schematic diagram of the voltage signal changes generated on the electrode during the contact process;
  • Figure 1(b) shows the schematic diagram of the voltage signal changes generated on the electrode during the process of two materials contacting and leaving;
  • Figure 1(c) shows the two materials approaching, A schematic diagram of the change of the voltage signal generated on the electrode in the continuous process of contact and departure.
  • Figure 2 shows a schematic diagram of the changes in surface charge and potential when materials of different electrostatic sequences approach, contact and leave when the electrostatic sequence of material A is smaller than that of material B.
  • Figure 2(a) shows the process of approaching and contacting two materials The schematic diagram of the voltage signal change generated on the electrode;
  • Figure 2(b) shows the schematic diagram of the voltage signal change generated on the electrode in the process of two materials contacting and leaving;
  • Figure 2(c) shows the two materials approaching, touching and leaving Schematic diagram of the change of the voltage signal generated on the electrode during the continuous process.
  • Figure 3 shows a schematic diagram of the changes in surface charge and current when materials of different electrostatic sequences approach, contact and leave when the electrostatic sequence of material A is greater than that of material B.
  • Figure 3(a) shows the process of approaching and contacting two materials The schematic diagram of the current signal change generated on the electrode;
  • Figure 3(b) shows the schematic diagram of the current signal change generated on the electrode during the process of two materials contacting and leaving;
  • Figure 3(c) shows the approach, contact and departure of two materials Schematic diagram of the change in the current signal generated on the electrode during the continuous process.
  • Figure 4 shows a schematic diagram of the changes in surface charge and current when materials of different electrostatic sequences approach, contact and leave when the electrostatic sequence of material A is smaller than that of material B.
  • Figure 4(a) shows the process of approaching and contacting two materials The schematic diagram of the current signal change generated on the electrode;
  • Figure 4(b) shows the schematic diagram of the current signal change generated on the electrode during the process of two materials contacting and leaving;
  • Figure 4(c) shows the approach, contact and departure of two materials Schematic diagram of the change in the current signal generated on the electrode during the continuous process.
  • Fig. 5 shows an example of circuit connection for obtaining electrostatic sequence information of two materials through voltage signals according to the present application.
  • Fig. 6 is a schematic diagram for explaining an embodiment of a material identification and classification method according to the present application.
  • Fig. 7 is a schematic diagram of the functional module structure of the material identification and classification system according to the present application.
  • FIG. 8 shows a schematic diagram of mechanical installation between the probe in the probe module and the measured material in the measured material moving module according to an example of the present application.
  • Figure 9 shows an example of a situation where there may be charge exchange between the measured material and the probe material during the friction process due to the difference in electrostatic sequence between the two.
  • Fig. 10 is a schematic diagram of a probe structure according to an example of the present application.
  • Fig. 11 is a schematic diagram of a tested material and its supporting substrate according to an example of the present application.
  • the principle of material identification in this application is: in the same environment, different materials have different surface electrostatic sequences. When two different materials are in contact, due to the different electrostatic sequences, the surface of two different materials Charges with opposite signs will be generated respectively. We can judge the positive or negative charge on the surface of the material based on the change in the potential difference between the electrode (probe) made of one of the materials and the ground in contact with the material. The electrostatic sequence size (information) of the two materials can be further compared according to the positive and negative charges. The electrostatic sequence of the material with positive charge on the surface is large, and the electrostatic sequence of material with negative charge on the surface is small.
  • Figure 1 shows a schematic diagram of the changes in surface charge and voltage (potential) when materials of different electrostatic sequences approach, contact and leave when the electrostatic sequence of material A is greater than the electrostatic sequence of material B.
  • Figure 1(a) shows a schematic diagram of the voltage signal changes generated on the electrode during the process of two materials approaching and contacting;
  • Figure 1(b) shows a schematic diagram of the voltage signal changes generated on the electrode during the process of two materials contacting and leaving;
  • Figure 1(c) shows a schematic diagram of the changes in the voltage signals generated on the electrodes during the continuous process of two materials approaching, contacting and leaving.
  • the voltmeter will show the voltage-time change shown schematically on the right side of Figure 1(b), with ⁇ V changing from negative to zero.
  • the process of two materials approaching, contacting and leaving is coherent, and the voltage change shown in Figure 1(c) can be obtained from the voltmeter.
  • FIG. 2 shows a schematic diagram of the changes in surface charge and potential when materials of different electrostatic sequences approach, contact and leave when the electrostatic sequence of material A is smaller than the electrostatic sequence of material B.
  • Figure 2(a) shows a schematic diagram of the voltage signal changes generated on the electrode during the process of two materials approaching and contacting;
  • Figure 2(b) shows a schematic diagram of the voltage signal changes generated on the electrode during the process of two materials contacting and leaving;
  • Figure 2(c) shows a schematic diagram of the changes in the voltage signals generated on the electrodes during the continuous process of two materials approaching, contacting and leaving.
  • Fig. 3 shows a schematic diagram of the changes in surface charge and current when materials of different electrostatic sequences approach, contact and leave when the electrostatic sequence of material A is greater than the electrostatic sequence of material B.
  • Figure 3(a) shows a schematic diagram of the current signal changes generated on the electrode during the process of two materials approaching and contact;
  • Figure 3(b) shows a schematic diagram of the current signal changes generated on the electrode during the process of two materials contacting and leaving;
  • Figure 3(c) shows a schematic diagram of the changes in the current signals generated on the electrodes during the continuous process of two materials approaching, contacting and leaving.
  • Fig. 4 shows a schematic diagram of the changes in surface charge and current when materials of different electrostatic sequences approach, contact and leave when the electrostatic sequence of material A is smaller than that of material B.
  • Figure 4(a) shows a schematic diagram of the current signal changes generated on the electrode during the process of two materials approaching and contacting;
  • Figure 4(b) shows a schematic diagram of the current signal changes generated on the electrode during the process of two materials contacting and leaving;
  • Fig. 4(c) shows a schematic diagram of the change of the current signal generated on the electrode during the continuous process of two materials approaching, contacting and leaving.
  • the charge accumulated on the surface of the A material is positive or negative. That is, the corresponding pulse when leaving is positive, indicating that the accumulated positive charge is, on the contrary, if the corresponding pulse when leaving If the pulse is negative, it means that negative charge is accumulated.
  • the positive and negative charges accumulated on the surface of the A material by considering only the positive and negative pulses when approaching.
  • Fig. 5 shows an example of circuit connection for obtaining electrostatic sequence information of two materials through voltage signals according to the present application.
  • a capacitor, a resistor, and a voltmeter are connected in parallel between the electrode and the ground, which is a preferred connection method for the circuit connection of Figs. 1 and 2 for picking up voltage signals.
  • Figure 6 is a schematic diagram for explaining an embodiment of the material identification and classification method according to the present application, which is three known materials A1, A2, A3. To identify an unknown material (tested material 3) that needs to be detected is this Which of the three materials or the identification and classification method and process diagram for classifying them.
  • three probes are formed on the substrate 1, namely the probe formed by the electrode 2-1 and the known material A1, the probe formed by the electrode 2-2 and the known material A2, and the probe formed by the electrodes 2-3 and A probe made of known material A3.
  • only one probe or more than three probes may be formed in other embodiments.
  • the electrodes 2, 2-1, 2-2, 2-3, etc. are to be formed, if the known materials A, A1, A2, and A3 forming the probe are good conductors , This kind of electrode may not be needed, and the electrodes are formed by the known materials A, A1, A2, and A3.
  • the above is to identify the measured material by picking up the voltage signal changes shown in the voltmeters V1, V2, V3 when the measured material 3 is in contact with the probe's known materials A1, A2, A3. According to this application, it can also be used When the measured material 3 is close to the probe's known materials A1, A2, A3, the voltage signal changes shown by the voltmeters V1, V2, V3 after contacting and leaving to identify the measured material.
  • the tested materials that are not known materials on the probe can also be classified according to their electrostatic sequence.
  • the tested material 3 that does not belong to one of the known materials A1, A2, and A3 on the probe can be classified into the following categories according to this application: the material category with an electrostatic sequence smaller than A1; The type of material whose electrostatic sequence is greater than that of A1 but less than that of A2; the type of material whose electrostatic sequence is greater than that of A2 but less than that of A3; and the type of material whose electrostatic sequence is greater than that of A3. Description will be given below with reference to FIG. 6.
  • the tested material belongs to the material category with the electrostatic sequence less than A1; if it is the second case, the tested material belongs to the material category with the electrostatic sequence greater than the A1 electrostatic sequence but less than the A2 electrostatic sequence; if it is the first In the three cases, the tested material belongs to the material category whose electrostatic sequence is greater than the A2 electrostatic sequence but less than the A3 electrostatic sequence; if it is the fourth case, the tested material belongs to the material category with the electrostatic sequence greater than the A3 electrostatic sequence.
  • the above is to classify the tested material by picking up the positive and negative changes of the voltage signal shown by the voltmeters V1, V2, V3 when the tested material 3 is in contact with the known materials A1, A2, and A3 of the probe.
  • you can also sort the tested materials by picking up the positive and negative voltage signal changes shown in the voltmeters V1, V2, V3 when the tested material 3 and the known materials A1, A2, and A3 of the probe are approaching, contacting and leaving Material 3.
  • this application is not limited to this, and other methods derived therefrom may also be included.
  • materials can be classified into four categories and three materials can be identified.
  • a person of ordinary skill in the art can deduce that by using i probes with different electrostatic sequences, materials can be classified into i+1 categories and i materials can be identified, where i is a natural number.
  • the electrical signal of each probe before the measured material is approached as a reference, when there is no voltage change or current signal on one probe and the other probes all have voltage change Or in the case of a current signal, the measured material is identified as the known material of the probe without voltage change or current signal; when the voltage signal change on all probes is negative or the current signal is first negative and then positive , Classify the measured material as a known material whose electrostatic sequence is smaller than that of the probe with the smallest electrostatic sequence in the array; when the voltage signal changes on the two probes closest to the electrostatic sequence in the array appear electrical When the sign is opposite or the current signal appears first negative and then positive and first positive and then negative, classify the measured material as the material type whose electrostatic sequence is between the known materials of the two probes closest to the electrostatic sequence in the array ; When the voltage signal changes on all probes are positive or the current signals are positive first and then negative, classify the measured material as a material whose electrostatic sequence is greater than
  • Fig. 7 is a schematic diagram of the functional module structure of the material identification and classification system according to the present application, which is used to implement the above-mentioned material identification and classification method according to the present application. As shown in Figure 7, it mainly includes a probe module 11, an electrical signal acquisition module 12, an electrical signal analysis and processing module 13, a material determination module 14, a result display module 15, a control module (CPU) 16, a measured material movement module 17, etc. .
  • the probe module 11 includes one or several probes made of one or several different known materials.
  • the electrostatic sequence of these known materials is known, and any one of the probe methods mentioned in this application can be used.
  • the control module 16 sets control information according to the parameters of the probe module 11, including the number of probes, the electrostatic sequence relationship of each known material on the probe, the electric signal pickup mode (voltage or current), etc., for controlling the electric signal acquisition module 12,
  • the electrical signal analysis and processing module 13, the material determination module 14, and the measured material movement module 17 work synchronously.
  • the electrical signal acquisition module 12 is matched with the probe module 11 under the control of the control module 16 to collect the electrostatic sequence information between the known material and the measured material on each probe of the probe module 11, including picking up the previous reference picture 1. Voltage signals or current signals as described in Figure 2, Figure 3, Figure 4 and Figure 5, etc.
  • the electrical signal analysis and processing module 13 is used to analyze and process the voltage signal or current signal from the electrical signal acquisition module 12, including (when necessary) amplifying or limiting, etc., to obtain the known materials used to represent the probe and the A stable and comparable electrical signal for measuring the electrostatic sequence relationship between the materials is provided to the material determining module 14.
  • the material determination module 14 is based on the electrical signal provided by the electrical signal analysis and processing module 13, the parameter information of each probe of the probe module 11 provided by the control module 16, and the electrostatic sequence table of various materials pre-stored in the material determination module 14, The measured material is identified or classified, and the identified or classified measured material information is provided to the control module 16 and the display module 15.
  • the result display module 15 displays the recognized material or the classified material category (group) according to the information provided by the material determination module 14.
  • the measured material moving module 17 makes the measured material approach, contact and leave the known material surface of the probe in the probe module 11. According to the identification or classification information determined by the material determination module 14, it will be The identified or classified test material moves to a pre-designated location.
  • the control module 16 is the control center of the entire system and controls the work of each module.
  • Figure 8 shows a schematic diagram of the mechanical installation between the probe in the probe module 11 and the measured material in the measured material moving module 17, which includes support components, vacuum suction components, probes, fixed probes, and relative Mobile devices, tested materials, etc.
  • the probe is fixed on the probe fixing and relatively movable device belonging to the measured material moving module 17.
  • the measured material plane is opposite to the front of the probe, and the distance d between them can be measured in the measured material moving module 17.
  • the probe After receiving the signal from the control device 16, the probe is fixed and can be moved relative to the movable device to automatically adjust the probe. Under the joint action of the supporting component and the vacuum suction component, the measured material and its substrate can be fixedly absorbed.
  • the vacuum suction assembly is connected to the support assembly through a valve.
  • the measured material substrate 4 may also be fixed on the measured material moving module 17 On the substrate fixed and relatively movable device (not shown), the measured material plane is opposite to the front of the probe, and the distance d between them can be fixed by the substrate after the measured material moving module 17 receives the signal from the control device 16 And can move the measured material substrate automatically to adjust relative to the mobile device, under the joint action of the supporting component and the vacuum suction component, the measured material and its substrate are fixedly absorbed.
  • the material to be tested can also be in frictional contact with the known material surface of the probe.
  • the voltage and current changes in the present application are the result of multiple frictions.
  • Figure 9 shows a case where there may be charge exchange between the measured material and the probe material during the friction process due to the different electrostatic sequences of the two. example.
  • the electrostatic sequence of material B is greater than that of material A. After multiple contacts, the surface of material B may be positively charged, and the surface of material A may be negatively charged. In this situation, when the two materials approach again, there will be a positive charge on the electrode connected to material A, and balance with the negative charge on the surface of material A, there will be a voltage value on the voltmeter, that is, the subsequent voltage will be This is a baseline change.
  • the voltmeter connected to the electrode will show the voltage-time change shown on the right side of Figure 9(b), and the ⁇ V changes from positive to zero.
  • the process of two materials approaching, contacting and leaving is coherent, and the voltage change as shown in Figure 9(c) can be obtained from the voltmeter.
  • the signal changes in the embodiment of Fig. 2 have similar results.
  • the area of the material to be measured and the surface of the known material of the probe can be adjusted as needed, the rate of change of the distance between the two can be adjusted, and the pressure between the two can be adjusted.
  • the material to be tested and the surface of the known material of the probe can be subjected to electrostatic discharge treatment when needed.
  • FIG. 10 is a schematic diagram of the probe structure according to the present application.
  • the probe is one of the core components of the entire system. As shown in Figure 10, it includes the substrate 1 and the conductive layer electrode 2 on its front surface.
  • the conductive layer electrode 2 can be one or more electrodes (2-1,2- 1,...2-n), these electrodes can be led out separately or after being connected as required.
  • At least one thin film material An is connected to the electrode 2-n.
  • the substrate 1 may be a whole of one material, or a plurality of small substrates (1-1, 1-2,..., 1-n) of different materials corresponding to different electrodes.
  • 11 is a schematic diagram of the tested material and its supporting base, including the tested material base 4 and the tested material 3. If the tested material has a certain rigidity, the substrate can be omitted.
  • the measured material movement module 17 also includes a controllable motor system, a movable manipulator, a manipulator, etc. After receiving a signal from the control module 16, the motor rotates the manipulator according to the signal to reach different specified positions, and then The feedback signal is sent to the vacuum suction component to release the measured material, and the robot will place the identified or classified measured material in the specified position.

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Abstract

一种材料识别和分类方法及其系统，将静电序列不同的一种或者几种已知材料（A、A1、A2、A3）在基板（1）上形成一个或者几个探头的阵列，将被测材料（3）与一个或者几个探头的已知材料（A、A1、A2、A3）表面接近、接触或者离开，检测被测材料（3）接近前、接近、接触、离开或者离开后一个或者几个探头上的电压或者电流信号，根据电压或者电流信号来识别和分类被测材料（3）。

Description

材料识别和分类方法及其系统 技术领域
本申请涉及一种材料识别和分类方法及其系统，属于根据材料电特性来识别材料的传感器相关的技术和系统。
背景技术
近年来，随着人工智能技术的发展，多种压力传感器、温度传感器、光敏传感器和磁力传感器应用于机器人、医疗设备、电子皮肤等复杂的体系中，准确感知周围环境的各种信息，成为化学、电子、仪器和医学等领域的研究热点之一。然而，能实现材料种类精确识别和分类的传感器却很少有报道。
大家知道，各种物质之间存在静电序列。所谓静电序列，就是根据两种物质相互接触时产生静电的极性，将各种物质依次排成的序列。根据这个序列，前后两种物质接触时，前者带正电，后者带负电。可用各种物质的功函数不同或物质的极性基团不同来解释。带电极性等情况还与温度、杂质等因素有关。也就是说不同物质的物体互相接触时，一定是一种物体带正电荷，另一种物体带负电荷。静电序列是指从正负电荷着眼，把物质按照由带正电到带负电的顺序整理成的推列次序。下面是一个接触带静电序列：
(+)尼龙、羊毛、丝绸、赛璐珞、棉织品、金属、黑橡胶、涤纶、维尼纶、聚苯乙烯、聚丙烯、聚乙烯、聚氯乙烯、聚四氟乙烯(-)。
在以上序列中，尼龙最容易失去电子，聚四氟乙烯最容易得到电子。序列中任何一物质与它后面的物质接触摩擦，前者带正电，后者带负电。例如尼龙与聚乙烯摩擦接触，尼龙带正电，聚乙烯带负电。
发明内容
本发明人对静电序列不同的若干材料物体进行了研究，根据不同材料具有不同的静电序列原理，制备了一个或者多个探头的阵列，阵列中的每个探头上集成有不同的已知材料，根据被测材料与探头上的不同已知材料之间的静电序列不同而产生的感应电荷不同，确定出被测材料是探头上哪种材料，或者确定出被测材料的静电序列相对于探头上不同材料静电序列所处的位置。
本申请的目的在于提出一种用于实现一种材料的自动识别及分类的方法及其系统。
根据本申请的一种材料识别和分类方法，其特征在于，包括：将静电序列不同的一种或者几种已知材料在基板上形成一个或者几个探头的阵列，将被测材料与所述一个或者几个探头的已知材料表面接近、接触或者离开，检测被测材料接近前、接近、接触、离开或者离开后所述一个或者几个探头上的电压或者电流信号，根据所述电压或者电流信号来识别和分类所述被测材料。
优选地，根据本申请的材料识别和分类方法，所述一个或者几个探头中还分别具有导电电极，所述已知材料形成在所述导电电极上，所述电压或者电流信号从所述导电电极引出。
优选地，根据本申请的材料识别和分类方法，以每个探头在被测材料接近前的电信号为基准，当一个探头上没有电压变化量或者电流信号而其余探头上都具有电压变化量或者电流信号时，将所述被测材料识别为该没有电压变化量或者电流信号的探头的已知材料。
优选地，根据本申请的材料识别和分类方法，以每个探头在被测材料接近前的电信号为基准，当所有探头上的电压信号变化量都为负或者电流信号都为先负后正时，将所述被测材料分类为静电序列小于所述阵列中静电序列最小的探头的已知材料的材料类别；当所述阵列中静电序列最靠近的两个探头上的电压信号变化量出现电符号相反或者电流信号出现先负后正和先正后负时，将所述被测材料分类为静电序列介于所述阵列中静电序列最靠近的这两个探头的已知材料之间的材料类别；当所有探头上的电压信号变化量都为正或者电流信号都为先正后负时，将所述被测材料分类为静电序列大于所述阵列中静电序列最大的探头的已知材料的材料类别。
根据本申请的一种材料识别和分类系统，用于实现上述材料识别和分类方法，包括：探头模块、电信号采集模块、电信号分析处理模块、材料确定模块、被测材料移动模块和控制模块，所述探头模块包括由一个或者几个静电序列不同的已知材料制成的一个或者几个探头；所述控制模块根据所述探头模块的参数来设置控制信息，用于控制所述电信号采集模块、所述电信号分析处理模块、所述材料确定模块和所述被测材料移动模块的工作；所述电信号采集模块在所述控制模块的控制下，与所述探头模块匹配，来对所述探头模块的各个探头上的已知材料与被测材料之间的静电序列信息进行采集，包括拾取其电压信号或者电流信号；所述电信号分析处理模块用于对来自所述电信号采集模块的电压信号或者电流信号进行分析处理，得到用于表示探头的已知材料与被测材料之间的静电序列关系的可比较电信号，提供给所述材料确定模块；所述材料确定模块根据所述电信号分析处理模块提供的电信号，根据所述控制模块提供的所述探头模块的各个探头的参数信息，根据所述材料确定模块中预先存储的各种材料的静电序列表，对被测材料进行识别或者分类，并将识别或者分类的被测材料信息提供给所述控制装置；以及所述被测材料移动模块在所述控制模块的控制下，使被测材料与所述探头模块中探头的已知材料表面接近、接触和离开，并根据所述材料确定模块确定的识别或者分类信息，将被识别或者被分类的被测材料移动到预先指定的位置。
优选地，根据本申请的材料识别和分类系统，还包括：结果显示模块，其根据所述材料确定模块提供的信息，显示被识别的材料或者被分类的材料类别。
优选地，根据本申请的材料识别和分类系统，所述被测材料与所述探头的已知材料表面的接触还包括摩擦接触。
优选地，本申请的电压电流变化是多次摩擦后的结果,在摩擦过程中被测材料和探头材料间可以有因两者静电序列不同而产生的电荷交换。
优选地，根据本申请的材料识别和分类系统，所述被测材料与所述探头的已知材料表面的面积可以根据需要调整，两者之间的距离变化速率可调，之间的压力可调。
优选地，根据本申请的材料识别和分类系统，所述被测材料与所述探头的已知材料表面在需要时可以进行去静电处理。
技术效果
根据本申请，由于能够实现物体材料种类的识别和分类，因此诸如人造电子皮肤或手套等就可以在一定场合下常规地感知压力和温度的同时识别和分类出物质的材料及其种类，为盲人或者手套使用者提供被认知物体更多的信息；工业生产中的机械手可以从混合有多种材料物体的集合中识别和分类出每一种材料；在监测某种材料的真伪的应用中，材料的识别和分类也将会有重要的作用。
从以下结合附图对实施例的描述中，本申请的上述和/或其它方面将变得清楚和更容易理解。
附图说明
图1示出当材料A静电序列大于材料B静电序列时不同静电序列材料接近、接触和离开时表面电荷与电压(电势)的变化的示意图，其中，图1(a)表示两个材料接近、接触过程中在电极上产生的电压信号变化的示意图；图1(b)表示两个材料接触后离开过程中在电极上产生的电压信号变化的示意图；图1(c)表示两个材料接近、接触与离开连续过程中在电极上产生的电压信号的变化的示意图。
图2示出当材料A静电序列小于材料B静电序列时不同静电序列材料接近、接触和离开时表面电荷与电势的变化的示意图，其中，图2(a)表示两个材料接近、接触过程中在电极上产生的电压信号变化的示意图；图2(b)表示两个材料接触后离开过程中在电极上产生的电压信号变化的示意图；图2(c)表示两个材料接近、接触与离开连续过程中在电极上产生的电压信号的变化的示意图。
图3示出当材料A静电序列大于材料B静电序列时不同静电序列材料接近、接触和离开时表面电荷与电流的变化的示意图，其中，图3(a)表示两个材料接近、接触过程中在电极上产生的电流信号变化的示意图；图3(b)表示两个材料接触后离开过程中在电极上产生的电流信号变化的示意图；图3(c)表示两个材料接近、接触与离开连续过程中在电极上产生的电流信号的变化的示意图。
图4示出当材料A静电序列小于材料B静电序列时不同静电序列材料接近、接触和离开时表面电荷与电流的变化的示意图，其中，图4(a)表示两个材料接近、接触过程中在电极上产生的电流信号变化的示意图；图4(b)表示两个材料接触后离开过程中在电极上产生的电流信号变化的示意图；图4(c)表示两个材料接近、接触与离开连续过程中在电极上产生的电流信号的变化的示意图。
图5示出根据本申请的一种通过电压信号获得两种材料静电序列信息的电路连接的例子。
图6是用于说明根据本申请的材料识别和分类方法的实施例的示意图。
图7是根据本申请的材料识别和分类系统的功能模块结构示意图。
图8表示根据本申请一个例子的探头模块中的探头和被测材料移动模块中的被测材料之间的机械安装示意图。
图9表示在摩擦过程中被测材料和探头材料间可以有因两者静电序列不同而产生的电荷交换的这种情况的一个例子。
图10是根据本申请一个例子的探头结构示意图。
图11是根据本申请一个例子的被测材料及其支撑基底的示意图。
具体实施方式
下面结合附图说明本申请的具体实施例，本申请的范围不局限于说明的具体实施例。为了叙述方便，本申请规定两个材料相比较，容易失去电子而带正电的材料静电序列大，容易获得电子而带负电的材料静电序列小。
根据本申请的材料识别和分类方法
本申请中材料识别的原理为:在相同的环境下，不同的材料具有不同的表面静电序列，当两种不同的材料在接触的过程中，由于不同的静电序列，在两个不同的材料表面会分别产生出符号相反的电荷，我们根据与材料接触在一起的由其中一种材料制成的电极(探头)与地之间的电势差变化，就可以判断该材料表面所带电荷的正负，就可以根据电荷的正负进一步对比出这两种材料的静电序列大小(信息)，表面带正电荷的材料静电序列大，表面带负电荷的材料静电序列小。
1.通过电压获得两种材料静电序列信息
图1示出当材料A静电序列大于材料B静电序列时不同静电序列材料接近、接触和离开时表面电荷与电压(电势)的变化的示意图。图1(a)表示两个材料接近、接触过程中在电极上产生的电压信号变化的示意图；图1(b)表示两个材料接触后离开过程中在电极上产生的电压信号变化的示意图；图1(c)表示两个材料接近、接触与离开连续过程中在电极上产生的电压信号的变化的示意图。
当材料A静电序列大于材料B静电序列时，如图1(a)所示，材料B接近、接触材料A的过程中，材料B表面会逐渐积累负电荷，同时，材料A的表面会有逐渐增加的正电荷积累。这个过程中，与材料A相连的电极将出现负电荷流出，以材料B与材料A接近前的电压为基准，此时电压表测出电压的变化量ΔV为负。在这个过程中，电压表将表现出如图1(a)右侧示意所示的时间-电压变化。在此状态下，如果材料B离开材料A，即两个材料脱离接触时，与材料A相连的电极将会出现负电荷流入，如图1(b)所示，这个过程中，与电极相连的电压表会表现出图1(b)右侧示意所示的电压-时间变化，ΔV从负变化为0。两个材料接近、接触和离开的过程连贯在一起，从电压表就可得到如图1(c)所示的电压变化。
图2示出当材料A静电序列小于材料B静电序列时不同静电序列材料接近、接触和离开时表面电荷与电势的变化的示意图。图2(a)表示两个材料接近、接触过程中在电极上产生的电压信号变化的示意图；图2(b)表示两个材料接触后离开过程中在电极上产生的电压信号变化的示意图；图2(c)表示两个材料接近、接触与离开连续过程中在电极上产生的电压信号的变化的示意图。
当材料A静电序列小于材料B静电序列时，如图2(a)所示，材料B接近、接触材料A的过程中，材料B表面会逐渐积累正电荷，同时，材料A的表面会有逐渐增加的负电荷积累，与A相连的电极有负电荷流入(相当于正电荷流出)。以材料B与材料A接近前的电压为基准，此时电压表测出电压的变化量ΔV为正。在这个过程中，电压表将表现出如图2(a)右侧所示的时间-电压变化。在此状态下，如果材料B离开材料A，即两个材料脱离接触时， 与材料A相连的电极将会出现负电荷流出(相当于正电荷流入)，如图2(b)所示，这个过程中，与电极相连的电压表会表现出图2(b)右侧所示的电压-时间变化，ΔV从正变化为0。两个材料接近、接触和离开的过程连贯在一起，从电压表就可得到如图2(c)所示的电压变化。
当材料A静电序列等于材料B静电序列即两种材料为同种材料时，材料B接近、接触和离开材料A的过程中，没有电压变化量。
2.通过电流获得两种材料静电序列信息
图3示出当材料A静电序列大于材料B静电序列时不同静电序列材料接近、接触和离开时表面电荷与电流的变化的示意图。图3(a)表示两个材料接近、接触过程中在电极上产生的电流信号变化的示意图；图3(b)表示两个材料接触后离开过程中在电极上产生的电流信号变化的示意图；图3(c)表示两个材料接近、接触与离开连续过程中在电极上产生的电流信号的变化的示意图。
当材料A静电序列大于材料B静电序列时，如图3(a)所示，材料B接近、接触材料A时，材料B表面会逐渐积累负电荷，同时，材料A的表面会有逐渐增加的正电荷积累，这个过程中，与材料A相连的电极会有负电荷流出，与电极相连的电流表会表现出一个负的脉冲。在此状态下，如图3(b)所示，如果材料B离开材料A，则与材料A相连的电极有负电荷向电极流入，这个过程中，与电极相连的电流表会表现出一个正的脉冲。那么两个材料接近、接触和离开的过程连贯在一起，电流表就得到如图3(c)所示的电流先负后正两个脉冲。
图4示出当材料A静电序列小于材料B静电序列时不同静电序列材料接近、接触和离开时表面电荷与电流的变化的示意图。图4(a)表示两个材料接近、接触过程中在电极上产生的电流信号变化的示意图；图4(b)表示两个材料接触后离开过程中在电极上产生的电流信号变化的示意图；图4(c)表示两个材料接近、接触与离开连续过程中在电极上产生的电流信号的变化的示意图。
当材料A静电序列小于材料B静电序列时，如图4(a)所示，材料B接近、接触材料A时，材料B表面会逐渐积累正电荷，同时，材料A的表面会有逐渐增加的负电荷积累，这个过程中，与材料A相连的电极会有负电荷流入(相当于正电荷流出)，与电极相连的电流表会表现出一个正的脉冲。在此状态下，如图4(b)所示，如果材料B离开材料A，与材料A相连的电极会有负电荷流出(相当于正电荷流入)，这个过程中，与电极相连的电流表会表现出一个负的脉冲。那么两个材料接近、接触和离开的过程连贯在一起，电流表就得到如图4(c)所示的电流先正后负两个脉冲。
如上述，如果我们仅仅观察离开时的脉冲正负，也可以推论出A材料表面积累的电荷正负，即，离开时对应的脉冲是正，则说明积累的是正电荷，相反，如果离开时对应的脉冲是负，则说明积累的是负电荷。同样，也可以仅仅考虑接近时的脉冲正负来推断A材料表面积累的电荷正负。
当两种静电序列相同的材料在接近、接触和离开的过程中，在两个材料表面不会产生出符号相反的电荷，材料接近、接触与离开过程中在电极上产生的电流信号也不会出现正负脉冲。
图5示出根据本申请的一种通过电压信号获得两种材料静电序列信息的电路连接的例 子。根据图5，电容、电阻和电压表并联连接在电极与地之间，其是用于拾取电压信号的图1和图2电路连接的一种优选连接方式。
因此，利用上述通过电压或者电流获得两种材料的静电序列的信息，可以判定两种材料的静电序列是否相同以及谁大谁小的关系，可以进行材料识别和分类。
图6是用于说明根据本申请的材料识别和分类方法的实施例的示意图，其是已知三种材料A1，A2，A3，要识别一个需要探知的未知材料(被测材料3)是这三种材料中的哪一种材料或者将其分类的识别和分类方法与过程示意图。
在该实施例中，基板1上形成了三个探头，即由电极2-1和已知材料A1形成的探头、由电极2-2和已知材料A2形成的探头以及由电极2-3和已知材料A3形成的探头。根据本申请，也可以在其它实施例中只形成一个探头或者多于三个的探头。另外，在本说明书的上述各个例子中，尽管说明了要形成电极2，2-1，2-2，2-3等，但如果形成探头的已知材料A，A1，A2，A3是良导体，可以不需要这种电极，而由已知材料A，A1，A2，A3自身形成电极。
根据本申请，为了说明，假设如果我们有i个已知的材料,它们的静电序列也已知，当我们有一个待测材料x,而且知道它是已知的i种材料的其中之一，我们可以通过对比已知材料与待测材料的静电序列而识别待测材料的种类。如图6所示，首先我们把这三个已知材料做成探头，已知的三种材料的静电序列的顺序为A1<A2<A3,它们的电极分别为2-1,2-2和2-3，每个电极接一个电压表，测量对应探头电压信号。
如果被测材料3是已知材料A1，A2，A3的一种，因此当被测材料3与探头的已知材料A1，A2，A3接触时，A1、A2、A3三个探头上带正、负电荷的情况即电压表V1,V2,V3所示的电压信号变化量“ΔV1,ΔV2,ΔV3”是下列情况之一：“0,-,-”，“+,0,-”和“+，+，0”，其中，“0”表示ΔV＝0，“+”表示ΔV>0，“-”表示ΔV<0。如果是第一种情况，被测材料是A1；如果是第二种情况，被测材料是A2；如果是第三种情况，被测材料是A3。由此识别出被测材料3。
上述是通过拾取当被测材料3与探头的已知材料A1，A2，A3接触时电压表V1,V2,V3所示的电压信号变化量来识别被测材料，根据本申请，也可以采用通过当被测材料3与探头的已知材料A1，A2，A3接近前、接触和离开后电压表V1,V2,V3所示的电压信号变化量来识别被测材料。
当被测材料3与探头处于接近前、接触和离开后三种状态下时，如果被测材料3是A1类材料，则A1、A2、A3三个探头上带正、负电荷的情况即电压表V1,V2,V3所示的电压信号变化量分别是：ΔV1＝“0,0,0”；ΔV2＝“0,-,0”；ΔV3＝“0，-，0”，其中，“0”表示ΔV＝0，“+”表示ΔV>0，“-”表示ΔV<0，也就是说，如果电压表V1,V2,V3所示的电压信号变化量分别是ΔV1＝“0,0,0”，ΔV2＝“0,-,0”，ΔV3＝“0，-，0”，则可识别出被测材料3是A1类材料；如果被测材料3是A2类材料，则A1、A2、A3三个探头上带正、负电荷的情况即电压表V1,V2,V3所示的电压信号变化量分别是：ΔV1＝“0,+,0”；ΔV2＝“0,0,0”；ΔV3＝“0，-，0”，也就是说，如果电压表V1,V2,V3所示的电压信号变化量分别是ΔV1＝“0,+,0”，ΔV2＝“0,0,0”，ΔV3＝“0，-，0”，则可识别出被测材料3是A2类材料；如果被测材料3是A3类材料，则A1、A2、A3三个探头上带正、负电荷的情况即电压表V1,V2,V3所示的电压信号变化量分别是：ΔV1＝“0,+,0”；ΔV2＝“0,+,0”；ΔV3＝“0，0，0”，也就是说，如果 电压表V1,V2,V3所示的电压信号分别是ΔV1＝“0,+,0”，ΔV2＝“0,+,0”，ΔV3＝“0，0，0”，则可识别出被测材料3是A3类材料。
根据本申请，对于被测材料3，除了可以按上述进行识别之外，对不属于探头上的已知材料的被测材料，还可以按照其静电序列进行分类。
如图6所示，对不属于探头上的已知材料A1、A2、A3之一的被测材料3，根据本申请，可以将其分类为以下类别：静电序列小于A1静电序列的材料类别；静电序列大于A1静电序列但小于A2静电序列的材料类别；静电序列大于A2静电序列但小于A3静电序列的材料类别；以及静电序列大于A3静电序列的材料类别。下面参考图6进行说明。
如图6所示，由于被测材料3不是已知材料A1，A2，A3的一种，因此当被测材料3与探头的已知材料A1，A2，A3接触时，A1、A2、A3三个探头上带正、负电荷的情况即电压表V1,V2,V3所示的电压信号变化量“ΔV1,ΔV2,ΔV3”将是下列情况之一：“-,-,-”，“+,-,-”，“+，+，-”和“+，+，+”，其中，“+”表示ΔV>0，“-”表示ΔV<0。如果是第一种情况，被测材料属于静电序列小于A1静电序列的材料类别；如果是第二种情况，被测材料属于静电序列大于A1静电序列但小于A2静电序列的材料类别；如果是第三种情况，被测材料属于静电序列大于A2静电序列但小于A3静电序列的材料类别；如果是第四种情况，被测材料属于静电序列大于A3静电序列的材料类别。
上述是通过拾取当被测材料3与探头的已知材料A1，A2，A3接触时电压表V1,V2,V3所示的电压信号变化量正负来分类被测材料，如上所述，根据本申请，也可以通过拾取当被测材料3与探头的已知材料A1，A2，A3处于接近前、接触和离开后电压表V1,V2,V3所示的电压信号变化量正负来分类被测材料3。
如图6所示，当被测材料3与探头的已知材料A1，A2，A3处于接近前、接触和离开后三种状态下时，如果被测材料3属于静电序列小于A1静电序列的材料类别，则A1、A2、A3三个探头上带正、负电荷的情况即电压表V1,V2,V3所示的电压信号变化量分别是：ΔV1＝“0,-,0”；ΔV2＝“0,-,0”；ΔV3＝“0，-，0”，其中，“0”表示ΔV＝0，“+”表示ΔV>0，“-”表示ΔV<0，也就是说，如果电压表V1,V2,V3所示的电压信号变化量分别是ΔV1＝“0,-,0”，ΔV2＝“0,-,0”，ΔV3＝“0，-，0”，则可识别出被测材料3属于静电序列小于A1静电序列的材料类别；如果被测材料3属于静电序列大于A1静电序列但小于A2静电序列的材料类别，则A1、A2、A3三个探头上带正、负电荷的情况即电压表V1,V2,V3所示的电压信号变化量分别是：ΔV1＝“0,+,0”；ΔV2＝“0,-,0”；ΔV3＝“0，-，0”，其中，“0”表示ΔV＝0，“+”表示ΔV>0，“-”表示ΔV<0，也就是说，如果电压表V1,V2,V3所示的电压信号变化量分别是ΔV1＝“0,+,0”，ΔV2＝“0,-,0”，ΔV3＝“0，-，0”，则可识别出被测材料3属于静电序列大于A1静电序列但小于A2静电序列的材料类别；如果被测材料3属于静电序列大于A2静电序列但小于A3静电序列的材料类别，则A1、A2、A3三个探头上带正、负电荷的情况即电压表V1,V2,V3所示的电压信号变化量分别是：ΔV1＝“0,+,0”；ΔV2＝“0,+,0”；ΔV3＝“0，-，0”，也就是说，如果电压表V1,V2,V3所示的电压信号变化量分别是ΔV1＝“0,+,0”，ΔV2＝“0,+,0”，ΔV3＝“0，-，0”，则可识别出被测材料3属于静电序列大于A2静电序列但小于A3静电序列的材料类别；如果被测材料3属于静电序列大于A3的材料类别，则A1、A2、A3三个探头上带正、负电荷的情况即电压表V1,V2,V3所示的电压 信号变化量分别是：ΔV1＝“0,+,0”；ΔV2＝“0,+,0”；ΔV3＝“0，+，0”，也就是说，如果电压表V1,V2,V3所示的电压信号分别是ΔV1＝“0,+,0”，ΔV2＝“0,+,0”，ΔV3＝“0，+，0”，则可识别出被测材料3属于静电序列大于A3静电序列的材料类别。
根据本申请，可以根据需要来选择通过拾取当被测材料3与探头的已知材料A1，A2，A3接触时电压表V1,V2,V3所示的电压信号变化量来识别和分类被测材料，或者选择通过拾取当被测材料3与探头的已知材料A1，A2，A3处于接近前、接触和离开后三种状态下时电压表V1,V2,V3所示的电压信号变化量来识别和分类被测材料。当然，本申请不限于此，也可包括据此而得到的其它方式。
如上所述，通过3个静电序列不同的探头，能够将材料分类成4类和识别出三种材料。本领域普通技术人员可以推出，通过i个静电序列不同的探头，能够将材料分类成i+1类和识别出i种材料，i为自然数。
根据本申请，根据图3和图4所示，可以选择通过拾取当被测材料与探头的已知材料从接近到接触或者从接触到离开时电流表所示的电流信号来识别和分类被测材料，或者选择通过拾取当被测材料与探头的已知材料接近、接触和离开时电流表所示的电流信号来识别和分类被测材料，或者选择据此而得到的其它方式，这些都应当包括在本申请的范围之内。本领域普通技术人员根据上述公开内容能够显而易见地理解和得到依据电流信号来识别和分类被测材料的方法，这里不再赘述。
综上可知，根据本申请的材料识别和分类方法，以每个探头在被测材料接近前的电信号为基准，当一个探头上没有电压变化量或者电流信号而其余探头上都具有电压变化量或者电流信号时，将所述被测材料识别为该没有电压变化量或者电流信号的探头的已知材料；当所有探头上的电压信号变化量都为负或者电流信号都为先负后正时，将所述被测材料分类为静电序列小于所述阵列中静电序列最小的探头的已知材料的材料类别；当所述阵列中静电序列最靠近的两个探头上的电压信号变化量出现电符号相反或者电流信号出现先负后正和先正后负时，将所述被测材料分类为静电序列介于所述阵列中静电序列最靠近的这两个探头的已知材料之间的材料类别；当所有探头上的电压信号变化量都为正或者电流信号都为先正后负时，将所述被测材料分类为静电序列大于所述阵列中静电序列最大的探头的已知材料的材料类别。
根据本申请的材料识别和分类系统
图7是根据本申请的材料识别和分类系统的功能模块结构示意图，用于实现上述根据本申请的材料识别和分类方法。如图7所示，其主要包括探头模块11、电信号采集模块12、电信号分析处理模块13、材料确定模块14、结果显示模块15、控制模块(CPU)16、被测材料移动模块17等。
探头模块11包括由一个或者几个不同的已知材料制成的一个或者几个探头，这些已知材料的静电序列已知，可以采用本申请前述的任何一类探头方式。
控制模块16根据探头模块11的参数，包括探头个数、探头上各个已知材料的静电序列关系、电信号拾取方式(电压或者电流)等来设置控制信息，用于控制电信号采集模块12、电信号分析处理模块13、材料确定模块14和被测材料移动模块17的同步工作。
电信号采集模块12在控制模块16的控制下，与探头模块11匹配，来对探头模块11的各个探头上的已知材料与被测材料之间的静电序列信息进行采集，包括拾取前面参考图1、图2、图3、图4和图5等所述的电压信号或者电流信号。
电信号分析处理模块13用于对来自电信号采集模块12的电压信号或者电流信号进行分析处理，包括(在需要时)进行放大或者限幅处理等，得到用于表示探头的已知材料与被测材料之间的静电序列关系的稳定的可比较的电信号，提供给材料确定模块14。
材料确定模块14根据电信号分析处理模块13提供的电信号，根据控制模块16提供的探头模块11的各个探头的参数信息，根据材料确定模块14中预先存储的各种材料的静电序列表，对被测材料进行识别或者分类，并将识别或者分类的被测材料信息提供给控制模块16和显示模块15。
下面是部分材料的静电序列表。
Figure PCTCN2019122857-appb-000001
结果显示模块15根据材料确定模块14提供的信息，显示被识别的材料或者被分类的材料类别(组)。
被测材料移动模块17在控制模块16的控制下，使被测材料与探头模块11中探头的已知材料表面接近、接触和离开，并根据材料确定模块14确定的识别或者分类信息，将被识别或者被分类的被测材料移动到预先指定的位置。
控制模块16是整个系统的控制中心，控制各个模块工作。
作为一个例子，图8给出探头模块11中的探头和被测材料移动模块17中的被测材料之间的机械安装示意图，图中包括支撑组件、真空吸附组件、探头、探头固定及可相对移动装置、被测材料等。如图8所示，探头被固定在属于被测材料移动模块17的探头固定及可相对移动装置上，被测材料平面与探头正面相对，它们之间的距离d可以在被测材料移动模块17接收到来自控制装置16的信号后通过探头固定及可相对移动装置移动探头自动调节。在支撑组件和真空吸附组件的共同作用下，被测材料及其基底可以被固定吸附。真空吸附组件通过一个阀门与支撑组件相连。
除了图8所示的探头被固定在属于被测材料移动模块17的探头固定及可相对移动装置上之外，根据本申请，被测材料基底4也可以被固定在属于被测材料移动模块17的基底固定及可相对移动装置上(未图示)，被测材料平面与探头正面相对，它们之间的距离d可以在被测材料移动模块17接收到来自控制装置16的信号后通过基底固定及可相对移动装置移动被测材料基底自动调节，在支撑组件和真空吸附组件的共同作用下，被测材料及其基底被固定吸附。
优选地，根据本申请，被测材料与探头的已知材料表面还可以进行摩擦接触。
优选地，本申请的电压电流变化是多次摩擦后的结果,图9表示在摩擦过程中被测材料和探头材料间可以有因两者静电序列不同而产生的电荷交换的这种情况的一个例子。材料B静电序列大于材料A静电序列，多次接触之后，材料B表面可能会带正电荷，材料A表面可能会带负电荷。这种状况下，当两个材料再一次接近之前，与材料A连接的电极上会存在正电荷，与材料A表面的负电荷达成平衡，电压表上会有一个电压值，即后续电压将以此为基准发生变化。材料B接近、接触材料A的过程中，材料A表面的负电荷与材料B表面的正电荷相互作用，导致与A相连的电极有负电荷流入(相当于正电荷流出)。以材料B与材料A接近前的电压为基准，此时电压表测出电压的变化量ΔV为正。在这个过程中，电压表将表现出如图9(a)右侧所示的时间-电压变化。在此状态下，如果材料B离开材料A，即两个材料脱离接触时，与材料A相连的电极将会出现负电荷流出(相当于正电荷流入)，如图9(b)所示，这个过程中，与电极相连的电压表会表现出图9(b)右侧所示的电压-时间变化，ΔV从正变化为0。两个材料接近、接触和离开的过程连贯在一起，从电压表就可得到如图9(c)所示的电压变化。与图2实施例信号变化有类似的结果。
优选地，根据本申请，被测材料与探头的已知材料表面的面积可以根据需要调整，两者之间的距离变化速率可调，之间的压力可调。
优选地，根据本申请，被测材料与探头的已知材料表面在需要时可以进行去静电处理。
作为一个例子，图10是根据本申请的探头结构示意图。探头是整个系统的核心部件之一，如图10所示，包括基底1和其正面上的导电层电极2，导电层电极2可以是相互离开 的一个或者多个电极(2-1,2-1,…2-n)，这些电极可以根据需要单独或相连后引出，与电极2-n相连的至少有一种薄膜材料An。基底1可以是一种材料的一个整体，也可以是与不同电极对应的不种类材料的多个小基底(1-1,1-2,…,1-n)。图11是被测材料及其支撑基底的示意图，包括被测材料基底4和被测材料3。如果被测材料具有一定刚性，可以不用基底。
被测材料移动模块17中还包括可控电机系统、可移动机械臂、机械手等，在接收到来自控制模块16的信号后，根据信号的不同，电机转动机械臂，到达不同的规定位置，然后反馈信号给真空吸附组件，释放被测材料，机械手将被识别或者被分类的被测材料放置在规定的位置。
前面结合各个实施例已经详细地说明了本申请，应当理解，本申请不限于这种公开的实施方式。本领域普通技术人员能够根据本申请的精神来改进本申请，但应当理解，其仍属于本申请权利要求的范围。

Claims (10)

  1. 一种材料识别和分类方法，其特征在于，包括：将静电序列不同的一种或者几种已知材料在基板上形成一个或者几个探头的阵列，将被测材料与所述一个或者几个探头的已知材料表面接近、接触或者离开，检测被测材料接近前、接近、接触、离开或者离开后所述一个或者几个探头上的电压或者电流信号，根据所述电压或者电流信号来识别和分类所述被测材料。
  2. 根据权利要求1的材料识别和分类方法，其特征在于，所述一个或者几个探头中还分别具有导电电极，所述已知材料形成在所述导电电极上，所述电压或者电流信号从所述导电电极引出。
  3. 根据权利要求1或者2的材料识别和分类方法，其特征在于，以每个探头在被测材料接近前的电信号为基准，当一个探头上没有电压变化量或者电流信号而其余探头上都具有电压变化量或者电流信号时，将所述被测材料识别为该没有电压变化量或者电流信号的探头的已知材料。
  4. 根据权利要求1或者2的材料识别和分类方法，其特征在于，以每个探头在被测材料接近前的电信号为基准，当所有探头上的电压信号变化量都为负或者电流信号都为先负后正时，将所述被测材料分类为静电序列小于所述阵列中静电序列最小的探头的已知材料的材料类别；当所述阵列中静电序列最靠近的两个探头上的电压信号变化量出现电符号相反或者电流信号出现先负后正和先正后负时，将所述被测材料分类为静电序列介于所述阵列中静电序列最靠近的这两个探头的已知材料之间的材料类别；当所有探头上的电压信号变化量都为正或者电流信号都为先正后负时，将所述被测材料分类为静电序列大于所述阵列中静电序列最大的探头的已知材料的材料类别。
  5. 一种材料识别和分类系统，用于实现上述权利要求1至4中任何一项的材料识别和分类方法，包括：探头模块、电信号采集模块、电信号分析处理模块、材料确定模块、被测材料移动模块和控制模块，
    所述探头模块包括由一个或者几个静电序列不同的已知材料制成的一个或者几个探头；
    所述控制模块根据所述探头模块的参数来设置控制信息，用于控制所述电信号采集模块、所述电信号分析处理模块、所述材料确定模块和所述被测材料移动模块的工作；
    所述电信号采集模块在所述控制模块的控制下，与所述探头模块匹配，来对所述探头模块的各个探头上的已知材料与被测材料之间的静电序列信息进行采集，包括拾取其电压信号或者电流信号；
    所述电信号分析处理模块用于对来自所述电信号采集模块的电压信号或者电流信号进行分析处理，得到用于表示探头的已知材料与被测材料之间的静电序列关系的可比较电信号，提供给所述材料确定模块；
    所述材料确定模块根据所述电信号分析处理模块提供的电信号，根据所述控制模块提供的所述探头模块的各个探头的参数信息，根据所述材料确定模块中预先存储的各种材料的静电序列表，对被测材料进行识别或者分类，并将识别或者分类的被测材料信息提供给所述控制装置；以及
    所述被测材料移动模块在所述控制模块的控制下，使被测材料与所述探头模块中探头的已知材料表面接近、接触和离开，并根据所述材料确定模块确定的识别或者分类信息，将被识别或者被分类的被测材料移动到预先指定的位置。
  6. 根据权利要求5的材料识别和分类系统，其特征在于，还包括：
    结果显示模块，其根据所述材料确定模块提供的信息，显示被识别的材料或者被分类的材料类别。
  7. 根据权利要求6的材料识别和分类系统，其特征在于，所述被测材料与所述探头的已知材料表面的接触还包括摩擦接触。
  8. 根据权利要求6的材料识别和分类系统，其特征在于，所述被测材料与所述探头的已知材料表面的面积可以根据需要调整，两者之间的距离变化速率可调，之间的压力可调。
  9. 根据权利要求6的材料识别和分类系统，其特征在于，所述被测材料与所述探头的已知材料表面在需要时可以进行去静电处理。
  10. 根据权利要求6的材料识别和分类系统，其特征在于，所述电压电流变化是多次摩擦后的结果,在摩擦过程中被测材料和探头材料间可以有因两者静电序列不同而产生的电荷交换。
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