WO2021022626A1 - 传感电路、逻辑电路板、关节控制板、主控器板及机器人 - Google Patents

传感电路、逻辑电路板、关节控制板、主控器板及机器人 Download PDF

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Publication number
WO2021022626A1
WO2021022626A1 PCT/CN2019/106040 CN2019106040W WO2021022626A1 WO 2021022626 A1 WO2021022626 A1 WO 2021022626A1 CN 2019106040 W CN2019106040 W CN 2019106040W WO 2021022626 A1 WO2021022626 A1 WO 2021022626A1
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WO
WIPO (PCT)
Prior art keywords
capacitor
circuit
terminal
electrode
coupled
Prior art date
Application number
PCT/CN2019/106040
Other languages
English (en)
French (fr)
Inventor
刘培超
鞠政
黄睿
张俊鹏
姚郎贤
郎需林
Original Assignee
深圳市越疆科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201921258844.0U external-priority patent/CN211517497U/zh
Priority claimed from CN201921252998.9U external-priority patent/CN211855191U/zh
Priority claimed from CN201921265549.8U external-priority patent/CN211615670U/zh
Application filed by 深圳市越疆科技有限公司 filed Critical 深圳市越疆科技有限公司
Priority to EP19940864.2A priority Critical patent/EP3842733A4/en
Priority to CN201980041894.XA priority patent/CN112400143B/zh
Publication of WO2021022626A1 publication Critical patent/WO2021022626A1/zh
Priority to US17/214,718 priority patent/US20210237286A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G01B7/023—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring distance between sensor and object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/027—Electromagnetic sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
    • G01D5/241—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
    • G01D5/241—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes
    • G01D5/2417—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes by varying separation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/243—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the phase or frequency of ac
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R21/00—Arrangements for measuring electric power or power factor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R22/00—Arrangements for measuring time integral of electric power or current, e.g. electricity meters
    • G01R22/02—Arrangements for measuring time integral of electric power or current, e.g. electricity meters by electrolytic methods
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
    • G01V3/088—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices operating with electric fields
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
    • H03K17/94—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the way in which the control signals are generated
    • H03K17/945—Proximity switches
    • H03K17/955—Proximity switches using a capacitive detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37284—Capacitive 3-D proximity sensor
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03J—TUNING RESONANT CIRCUITS; SELECTING RESONANT CIRCUITS
    • H03J1/00—Details of adjusting, driving, indicating, or mechanical control arrangements for resonant circuits in general
    • H03J1/0008—Details of adjusting, driving, indicating, or mechanical control arrangements for resonant circuits in general using a central processing unit, e.g. a microprocessor
    • H03J1/0041—Details of adjusting, driving, indicating, or mechanical control arrangements for resonant circuits in general using a central processing unit, e.g. a microprocessor for frequency synthesis with counters or frequency dividers
    • H03J1/005—Details of adjusting, driving, indicating, or mechanical control arrangements for resonant circuits in general using a central processing unit, e.g. a microprocessor for frequency synthesis with counters or frequency dividers in a loop
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03J—TUNING RESONANT CIRCUITS; SELECTING RESONANT CIRCUITS
    • H03J2200/00—Indexing scheme relating to tuning resonant circuits and selecting resonant circuits
    • H03J2200/10—Tuning of a resonator by means of digitally controlled capacitor bank
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03J—TUNING RESONANT CIRCUITS; SELECTING RESONANT CIRCUITS
    • H03J2200/00—Indexing scheme relating to tuning resonant circuits and selecting resonant circuits
    • H03J2200/29—Self-calibration of a receiver

Definitions

  • This application relates to the technical field of electronic skin sensing, in particular to electronic skin sensing circuits, logic circuit boards, joint control boards, robot main controller boards, robot control systems and robots of mechanical equipment.
  • the main method for mechanical equipment to detect an approaching object is to make physical contact with the object through the housing.
  • the resistive housing relies on the proximity of the object to contact the robot to cause the deformation of the housing.
  • Existing sensors perform corresponding distance detection by detecting direct contact signals, which may easily cause mechanical equipment to contact an object and cause damage to the object.
  • This application mainly provides an electronic skin sensor circuit, logic circuit board, joint control board, robot main controller board, robot control system, and robot for mechanical equipment to solve the problem that mechanical equipment cannot achieve a non-contact distance to grounded objects Technical problems detected.
  • the sensing circuit includes a connection terminal for coupling to an electrode located on the casing of a mechanical device; a detection circuit, which is coupled to the connection terminal, to use the capacitance between the electrode and an external conductor or its change to detect the The distance between the electrode and the external conductor or its change obtains an electrical signal that characterizes the distance between the electrode and the external conductor or its change.
  • the logic circuit board includes a microprocessor, a first communication terminal, and a second communication terminal; wherein the microprocessor is respectively coupled to the first communication terminal and the second communication terminal, and the first communication terminal is used to communicate with As the above-mentioned sensor circuit is coupled, the second communication terminal is used to connect with the robot control board.
  • the joint control board includes a microprocessor, a motor drive circuit, a first communication terminal, and a second communication terminal; wherein the microprocessor is respectively coupled to the motor drive circuit, the first communication terminal, and the second communication terminal.
  • the first communication terminal is used for coupling with the above-mentioned logic circuit board
  • the second communication terminal is used for connecting with the robot main control board
  • the motor drive circuit is used for driving the robot to move.
  • the robot main controller board includes a microprocessor, a first communication terminal, and a second communication terminal; wherein the microprocessor is respectively coupled to the first communication terminal and the second communication terminal, and the first communication terminal Used for coupling with the above-mentioned logic circuit board or the above-mentioned joint control board, the second communication terminal is used for connecting with the robot main control board; the microprocessor is used for processing all the signals from the sensor circuit The electrical signal is used to obtain an electrical signal characterizing the distance between the external conductor and the electrode or its change.
  • the robot control system includes the above-mentioned sensor circuit, the above-mentioned logic circuit board, the above-mentioned joint control board, and the above-mentioned robot main controller board.
  • the robot includes the robot control system as described above.
  • the beneficial effect of the present application is that, different from the prior art, the electronic skin sensing circuit of the mechanical device disclosed in the present application is coupled to the electrode located on the electronic skin through the connecting terminal.
  • the electrode When a nearby conductor is close to the electrode, the electrode can form a capacitance with the nearby conductor. When the relative positional relationship between the nearby conductor and the electrode changes, the capacitance value of the capacitor will also change.
  • the characteristic capacitance or its change is generated by connecting the electrodes.
  • the detection circuit of a large amount of electrical signals can further obtain the distance between the electrode and the conductor or its change, so that the detection circuit of the mechanical device can sense the proximity of the external conductor and realize non-contact distance sensing.
  • Figure 1 is a schematic structural diagram of a device provided by an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of an electronic skin provided by an embodiment of the present application.
  • FIG. 3 is a schematic block diagram of the circuit structure of a robot control system provided by an embodiment of the present application.
  • FIG. 4 is a schematic block diagram of the communication architecture of the robot control system provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a circuit structure of a sensing circuit provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of an equivalent circuit of an oscillation circuit in a single oscillation mode provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of another equivalent circuit of an oscillation circuit in a single oscillation mode provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of an equivalent circuit of the first oscillation circuit and the second oscillation circuit in a dual oscillation mode provided by an embodiment of the present application;
  • FIG. 9 is a schematic diagram of another equivalent circuit of the first oscillating circuit and the second oscillating circuit provided by an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a step-down circuit provided by an embodiment of the present application.
  • first”, “second”, and “third” in the embodiments of this application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first”, “second”, and “third” may explicitly or implicitly include at least one of the features.
  • “a plurality of” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the terms “including” and “having” and any variations thereof are intended to cover non-exclusive inclusion.
  • a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes unlisted steps or units, or optionally also includes Other steps or units inherent to these processes, methods, products or equipment.
  • FIG. 1 is a schematic structural diagram of an apparatus provided by an embodiment of the present application.
  • the device of the present application is, for example, a mechanical device or a mechanical device, and specifically may be a robot 1.
  • the robot 1 may include at least one joint 10, at least one mechanical arm 20, and at least one electronic skin 30.
  • FIG. 1 only exemplarily shows that the electronic skin 30 covers a part of the surface of the robot 1. It is understood that the electronic skin 30 may also cover the entire surface of the robot 1.
  • the robot 1 may include a base 40 connected to at least one joint 10 or a robot arm 20.
  • the base 40 is placed or fixed on the workbench/work surface to provide a stable working environment for the robot 1.
  • the base 40 may also be movable.
  • a driving wheel is installed at the bottom of the base 40 to drive the robot 1 to move, which is convenient for the robot 1 to adapt to mobile working scenarios and increase the flexibility of the robot 1.
  • the joint 10 includes, for example, at least one driving component (not shown), which can drive the mechanical arm 20 to swing.
  • the robot 1 may include a joint 10 and a mechanical arm 20, or may include multiple joints 10 and multiple mechanical arms 20.
  • the number of joints 10 and mechanical arms 20 is subject to the actual design and use requirements of the robot 1, which will not be described here. limit.
  • the two manipulator arms 20 are rotatably connected by joints 10 connected at their respective ends, and the movement of the manipulator arms 20 can be realized by relative rotation of at least two joints 10.
  • the robot arm 20 includes a metal bracket (not shown) and a robot control system 50.
  • the robot control system 50 is coupled to the electronic skin 30, and the electronic skin 30 can be coated on the outer surface of the metal bracket.
  • the metal bracket is, for example, a metal frame or a shell of the robotic arm 20, which can provide a place for the electronic skin 30 to attach. It should be noted that the metal bracket is grounded to ensure the normal operation of the robot.
  • the electronic skin 30 can cooperate with the robot control system 50 to control the mechanical arm 20 to perform operations, such as rotation, swing, obstacle avoidance, and so on.
  • the joint 10 includes a joint support (not shown) and a robot control system 50.
  • the robot control system 50 is coupled to the electronic skin 30, and the electronic skin 30 can be coated on the outer surface of the joint support.
  • the material of the joint support is, for example, a conductive material such as metal, and the joint support can be grounded to ensure the normal operation of the robot 1.
  • the rotation and driving of the robot arm 20 can also be completed by the joint 10, and the electronic skin 30 cooperates with the robot control system 50 to control the joint 10 and the robot arm for operations, such as rotation, swing, obstacle avoidance, and so on.
  • the outer surface of the joint support of at least one joint 10 and the outer surface of the metal support of at least one mechanical arm 20 can be covered with at least one electronic skin 30, and the robot control system 50 can be installed in the mechanical arm 20 or the joint 10.
  • the robot arm 20 and the joint 10 can also share the same robot control system 50, or different robot control systems 50 can be provided respectively.
  • FIG. 2 is a schematic structural diagram of an electronic skin provided by an embodiment of the present application.
  • the electronic skin 30 may include a body 31 and at least one electrode 32, and the electrode 32 is disposed on the body 31.
  • the electrode 32 includes a sensing area 321 and a connection area 322 connected to each other.
  • the sensing area 321 of the electrode 32 can form a second capacitor C2 with a nearby external conductor (not shown), and the connection area 322 of the electrode 32 is used to transmit an electrical signal representing the capacitance or its variation to the robot control system 50.
  • the robot control system 50 can generate an electrical signal that characterizes the capacitance between the external conductor and the electrode 32 or its change And calculate the distance between the electrode 32 and the external conductor or its change, so as to perceive the distance between the external conductor (such as the human body) and the human body, can issue instructions to the joint 10 and/or the robot arm 20, and control the robot 1 to respond accordingly , To avoid collision with external conductors or reduce the degree of collision.
  • the electrode 32 covers the outer side of the robot arm 20 or the joint 10, and the shape of the electrode 32 matches the shape of the outer side of the robot arm 20 or the joint 10.
  • Covering the electrode 32 on the outer side of the robot arm 20 or the joint 10 means that the electrode 32 covers the side of the robot arm 20 or the joint 10 away from the robot 1 to facilitate the formation of a capacitor with a nearby conductor.
  • the shape of the electrode 32 matches the shape of the outer side of the robot arm 20 or the joint 10, that is, the shape of the electrode 32 attached to the side of the robot arm 20 or the joint 10 is the same or substantially the same as the shape of the outer surface of the robot arm 20 or the joint 10 .
  • the electrode 32 Since the shape of the electrode 32 matches the shape of the outer side of the robot arm 20 or the joint 10, the electrode 32 is attached to the outer side of the robot arm 20 or the joint 10 to obtain a better fixing effect and enhance the overall structure of the robot 1. Stability improves the use performance and makes the appearance of the robot 1 more beautiful.
  • the robot control system 50 may include a sensor circuit 51, a logic circuit board 52, a joint control board 53, and a robot main controller board 54.
  • the sensing circuit 51 is coupled to the logic circuit board 52
  • the logic circuit board 52 is coupled to the joint control board 53
  • the joint control board 53 is coupled to the robot main controller board 54.
  • the logic circuit board 52 can also be directly coupled to the robot main controller board 54.
  • the sensor circuit 51 can also be directly coupled to the robot control board.
  • the robot control board in the present application may be the joint control board 53 or the robot main controller board 54.
  • the sensor circuit 51, the logic circuit board 52, the joint control board 53, and the robot main controller board 54 are not limited to being only provided in the robot arm 20, and may also be part of the circuit or circuit.
  • the board is provided on the joint 10 or other parts of the robot.
  • the sensing circuit 51, the logic circuit board 52, the joint control board 53, and the robot main controller board 54 are not limited to being only provided in the joint 10, and part of the circuit or circuit board may also be provided.
  • the robot arm 20 or other parts of the robot.
  • the robot arm 20 and the joint 10 share the same robot control system 50.
  • An electronic skin 30 can be provided on the joint 10 and the robot arm 20.
  • a sensor circuit 51 can be provided in the robot arm 20, and another can be provided in the joint 10.
  • the sensor circuit 51, or the robot arm 20 and the joint 10 share a sensor circuit 51, the sensor circuit 51 of the joint 10 and the robot arm 20 can be coupled to the same logic circuit board 52, and the logic circuit board 52 can be arranged on the joint In 10, the logic circuit board 52 is coupled to the joint 10 control board 53, the joint control board 53 can be arranged in the joint 10, the joint control board 53 can be coupled to the robot main controller board 54, and the robot main controller board 54 can be arranged in The base 40, the joint 10, the robot arm 20 and other parts of the robot.
  • Two or more of the sensor circuit 51, the logic circuit board 52, the joint control board 53, and the robot main controller board 54 may be integrated into the same circuit board.
  • FIG. 4 is a schematic block diagram of the communication architecture of the robot control system provided by an embodiment of the present application. It should be noted that FIG. 4 only illustrates the communication architecture of the robot control system. It can be understood that the number of the sensor circuit 51, the logic circuit board 52, the joint control board 53, and the robot main controller board 54 can be based on actual needs. increase or decrease.
  • the sensing circuit 51 may include a communication terminal 511.
  • the logic circuit board 52 includes a microprocessor 521, a first communication terminal 522, and a second communication terminal 523.
  • the microprocessor 521 is respectively coupled to the first communication terminal 522 and the second communication terminal 523, and the first communication terminal 522 is coupled to the sensor.
  • the communication terminal 511 of the circuit 51 is a schematic block diagram of the communication architecture of the robot control system provided by an embodiment of the present application. It should be noted that FIG. 4 only illustrates the communication architecture of the robot control system. It can be understood that the number of the sensor circuit 51, the logic circuit board 52, the joint
  • the joint control board 53 includes a microprocessor 531, a motor drive circuit 532, a first communication terminal 533, and a second communication terminal 534.
  • the microprocessor 534 is respectively coupled to the motor drive circuit 532, the first communication terminal 533, and the second communication terminal 534.
  • the motor drive circuit 532 is used to drive the robot 1 to move.
  • the robot main controller board 54 includes a microprocessor 541, a first communication terminal 542, and a second communication terminal 543.
  • the microprocessor 541 is respectively coupled to the first communication terminal 542 and the second communication terminal 543.
  • the first communication terminal 542 is used for The second communication terminal 523 of the logic circuit board 52 or the second communication terminal 533 of the joint control board 53 are coupled.
  • the communication terminal 511 of the sensing circuit 51 is coupled to the first communication terminal 522 of the logic control board 52, and the second communication terminal 523 of the logic circuit board 52 is coupled to the first communication terminal 533 of the joint control board 53 or the main controller board 54
  • the first communication terminal 542, the first communication terminal 542 of the main controller board 54 is coupled to the second communication terminal 534 of the joint control board 53 or the second communication terminal 533 of the logic circuit board 52, the second communication of the main controller board 54
  • the terminal 543 can be connected to other necessary circuits or components. Through the coupling relationship between the communication terminals between the circuit boards, the transmission of electrical signals between the circuit boards can be realized.
  • the second communication terminal 523 of the logic circuit board 52 and the first communication terminal 533 of the joint control board 53 are RS485 communication terminals.
  • the second communication terminal 523 of the logic circuit board 52 can also be directly coupled to the first communication terminal 542 of the main controller board 54, and the logic circuit board 52 directly transmits electrical signals through the second communication terminal 523. It is transmitted to the main controller board 54, so that the joint control board 53 is omitted, which can reduce the loss or interference of the electric signal in the transmission process between different circuit boards.
  • the logic circuit board 52 is used to send the first query information to the sensor circuit 51.
  • the sensing circuit 51 is used to respond to the first query information, and send first response information including an electrical signal that characterizes the distance between the electrode 32 and the external conductor or its change to the logic circuit board 52, so that the logic circuit board 52 Electrical signals are processed.
  • the joint control board 53 is used to send the second query information to the logic circuit board 52.
  • the logic circuit board 52 is used to respond to the second query information and send the second response information including the processed electrical signal to the joint control board 53.
  • the joint control board 53 sends the processed electrical signal to the robot main controller board 54.
  • the joint control board 53 is used to calculate the processed electrical signal to obtain an electrical signal representing the distance between the external conductor and the electrode 32 or its change.
  • the main controller board 54 is connected to the joint control board 53, the joint control board 53 is connected to the logic circuit board 52, the logic circuit board 52 is connected to the sensing circuit 51, and the joint control board 53 sends query information to the logic circuit board 52.
  • the logic circuit board 52 returns the electrical signal sensed by the electronic skin 30 detected by the sensing circuit 51 to the joint control board 5354.
  • the joint control board 53 returns this electrical signal when the main controller board 54 sends an inquiry message to the joint control board 53.
  • the main controller board 54 can realize the unified management of the electronic skin 30 on the entire robot, and realize the application of the electronic skin 30 on the robot 1 more conveniently and reliably.
  • the logic circuit board 52 can provide power to the sensing circuit 51.
  • the logic circuit board 52 can include a first power terminal 524 and a second power terminal 525.
  • the first power terminal 524 is coupled to the second power terminal 525 and the microprocessor 521, and is used to couple to an external power source.
  • the second power terminal 525 is used for coupling with the sensing circuit 51, and can be specifically coupled to the power terminal 516 of the sensing circuit 51 to supply power to the sensing circuit 51.
  • the external power source coupled to the first power terminal 524 of the logic circuit board 52 may come from the joint control board 53.
  • the joint control board 53 can supply power to the logic circuit board 52.
  • the joint control board 53 includes a first power terminal 535 and a second power terminal 536.
  • the first power terminal 535 is coupled to the second power terminal 536 and the microprocessor 531, and is used to couple an external power source.
  • the second power terminal 536 is used to couple to the logic circuit board 52, and can be specifically coupled to the first power terminal 525 of the logic circuit board 52 to supply power to the logic circuit board 52.
  • the external power supply of the joint control board 53 can be directly an external power supply, or it can come from the main controller board 54.
  • the sensing circuit 51 includes an oscillation circuit 512, a detection circuit 513, and a connection terminal 514.
  • the oscillation circuit 512 and the detection circuit 513 are commonly coupled to the connection terminal 514, and the connection terminal 514 is coupled to the electrode 32 of the electronic skin 30.
  • the oscillating circuit 512 is coupled to the electrode 32 through the connecting terminal 514 to change its oscillation frequency when the external conductor approaches the electrode 32 to form a capacitance.
  • the detection circuit 513 is coupled to the oscillation circuit 512 to detect the oscillation frequency of the oscillation circuit 512 and output an electrical signal representing the oscillation frequency.
  • the oscillation circuit 512 oscillates in a single oscillation manner
  • the detection circuit 513 can measure the oscillation frequency of the oscillation circuit 512.
  • FIG. 5 is a schematic diagram of an equivalent circuit of an oscillation circuit in a single oscillation mode provided by the present application.
  • the oscillating circuit 512 may include an inductor L and a first capacitor C1, and the inductor L and the first capacitor C1 form an oscillating circuit.
  • the oscillation circuit 512 may be an LC parallel resonance type oscillation circuit 512 or an LC series resonance type oscillation circuit 512.
  • the oscillating circuit 512 is coupled to the detecting circuit 513, and the detecting circuit 513 is used to output an excitation signal to the oscillating circuit during the oscillation period. Specifically, it may output an excitation signal to the first end of the first capacitor C1 during the oscillation period.
  • the first end of the first capacitor C1 is coupled to the connection terminal 514 and is coupled to the electrode 32 of the electronic skin 30 through the connection terminal 514.
  • the excitation signal output by the detection circuit 513 can be always output to the first end of the first capacitor C1, so that the oscillation circuit 512 oscillates in a single oscillation manner, and the detection circuit 513 detects the oscillation frequency of the oscillation circuit 512 or its frequency Variety.
  • the capacitance value of the first capacitor C1 is 15-40 pF.
  • the electrode 32 and the external conductor form a second capacitor C2.
  • the second capacitor C2 is connected to the oscillating circuit 512, thereby changing the equivalent capacitance value of the oscillating circuit 512, which in turn changes the oscillation frequency of the oscillating circuit.
  • Such a change in the oscillation frequency is associated with the second capacitor C2. Since the first capacitor C1 and the inductance L are known, the second capacitor C2 or the data related to the distance between the external conductor and the electrode 32 can be calculated.
  • FIG. 6 is a schematic diagram of an equivalent circuit of a single-oscillation oscillation circuit provided by an embodiment of the present application.
  • One case for the single-oscillation implementation is: the second end of the first capacitor C1 is coupled to the earth.
  • the oscillation frequency detected by the detection circuit 513 is:
  • FIG. 7 is another equivalent circuit schematic diagram of the single-oscillation mode oscillation circuit provided by the embodiment of the present application.
  • oscillation circuit 512 may include a third capacitor C 3 and the fourth capacitor C4.
  • the capacitance of the ground terminal of the sensing circuit 51 to the earth's earth constitutes a third capacitance C3.
  • the capacitor coupled to the ground terminal to the mechanical device constitutes a fourth capacitor C4.
  • the fourth capacitor C4 is, for example, a capacitor generated when the ground terminal is coupled to the main metal conductor of the mechanical device (such as a metal bracket, a joint bracket, or other additional metal plates).
  • the fourth capacitor C4 is much larger than the third capacitor C3.
  • the ground terminal of the sensing circuit 51 can be coupled to the second terminal of the first capacitor C1, or the second terminal of the second capacitor C2 can be The second terminal serves as the ground terminal of the sensing circuit 51.
  • the rest of the grounds are coupled to signal grounds or power grounds.
  • the calculation process of the oscillation frequency of a single oscillation in this case can be as follows:
  • T 2 T 1 .
  • the oscillation frequency detected by the detection circuit 513 is:
  • T 1 is the first half period of the oscillation period
  • T 2 is the second half period of the oscillation period
  • C comb is the equivalent capacitance
  • ⁇ is the capacitance coefficient
  • the oscillation circuit 512 oscillates in a dual oscillation manner, and the detection circuit 513 can measure the oscillation frequency of the oscillation circuit 512.
  • the sensing circuit 51 may include a switching circuit, and the switching circuit is coupled to the oscillation circuit 512.
  • the oscillating circuit 512 includes an inductance L and a first capacitor C1 forming an oscillating circuit.
  • the oscillation circuit 512 may be an LC parallel resonance type oscillation circuit 512 or an LC series resonance type oscillation circuit 512.
  • the oscillation circuit 512 may include a first oscillation circuit 512a and a second oscillation circuit 512b. In some cases, the first oscillation circuit 512a and the second oscillation circuit 512b can be regarded as two states of the oscillation circuit 512.
  • the electrode 32 may belong to one of the first oscillation circuit 512a or the second oscillation circuit 512b, and the switching circuit may alternately switch the first oscillation circuit 512a and the second oscillation circuit 512b. There are many situations in which the switching circuit switches the first oscillation circuit 512a and the second oscillation circuit 512b, as follows:
  • the switching circuit can switch between the first oscillation circuit 512a and the second oscillation circuit 512b by switching the connection position of the electrode 32 and the oscillation circuit 512.
  • FIG. 8 is a schematic diagram of an equivalent circuit of the first oscillation circuit and the second oscillation circuit in a dual oscillation mode according to an embodiment of the present application.
  • the switching circuit couples the electrode 32 to the first end of the first capacitor C1 in the first half of the oscillation period, so that the first capacitor C1 and the electrode 32 are connected in series with the second capacitor C2 formed by the external conductor.
  • the inductor, the first capacitor C1 and the electrode 32 constitutes a first oscillation circuit 512a. That is, in the first half of the oscillation period, the electrode 32 is coupled to the first end of the first capacitor C1, and the two can be specifically coupled through the connection terminal 514.
  • the inductance, the first capacitor C1 and the electrode 32 constitute the first oscillating circuit 512a.
  • the detection circuit 513b can output the excitation signal to the first end of the first capacitor C1, so that the second capacitor C2 formed by the electrode 32 and the external conductor generates
  • the capacitance signal of ⁇ can affect the equivalent capacitance value of the oscillating circuit 512, so that the inductor L, the first capacitor C1, and the electrode 32 constitute the first oscillating circuit 512a.
  • the switching circuit couples the electrode 32 to the second end of the first capacitor C1 in the second half of the oscillation period, so that the oscillating circuit 512 does not include the electrode 32, and the inductor L and the first capacitor C1 constitute the second oscillating circuit 512b. That is, the electrode 32 is coupled to the second end of the first capacitor in the second half of the oscillation period, and the two can be specifically coupled through the connection terminal 514.
  • the oscillation circuit 512 does not include the electrode 32.
  • the detection circuit 513 can output the excitation signal to the first end of the first capacitor C1, and the second end of the first capacitor C1 is grounded. Therefore, the electrode 32 is equivalent to the ground and cannot affect the oscillation.
  • the equivalent capacitance of the circuit 512 that is, the oscillating circuit 512 does not include the electrode 32, and the second oscillating circuit 512 is composed of an inductor and the first capacitor C1.
  • the second terminal of the first capacitor C1 is grounded and can be coupled to the ground terminal of the sensing circuit 51, or the second terminal of the first capacitor C1 can be used as the ground terminal of the sensing circuit 51.
  • FIG. 9 is a schematic diagram of another equivalent circuit of the first oscillating circuit and the second oscillating circuit provided by an embodiment of the present application.
  • the electrode 32 is coupled to the first end of the first capacitor C1 and is used to form a second capacitor C2 with an external conductor. In this case, the connection relationship between the electrode 32 and the first end of the first capacitor C1 can be stable and unchanged.
  • the switching circuit outputs the excitation signal output by the detection circuit 513 to the first end of the first capacitor C1 in the first half of the oscillation period.
  • the second end of the first capacitor C1 is grounded.
  • the inductor L, the first capacitor C1 and the electrode 32 constitute the first Oscillation circuit 512a. In this way, the capacitance signal generated by the capacitor formed by the external conductor and the electrode 32 will affect the equivalent capacitance of the oscillating circuit 512.
  • the inductance L, the first capacitor C1 and the electrode 32 constitute the first oscillating circuit 512a.
  • the switching circuit outputs the excitation signal output by the detection circuit 513 to the second end of the first capacitor C1 in the second half of the oscillation period, and the first end of the first capacitor C1 is grounded, so that the oscillation circuit 512 does not include the electrode 32, the inductor, the first The capacitor C1 constitutes the second oscillation circuit 512.
  • the electrode 32 is grounded through the first end of the first capacitor C1, which cannot affect the equivalent capacitance of the oscillating circuit 512, so that the oscillating circuit 512 does not include the electrode 32, and the inductor L and the first capacitor C1 constitute the second oscillating circuit 512b.
  • the first terminal of the first capacitor C1 is grounded and may be coupled to the ground terminal of the sensing circuit 51, or the first terminal of the first capacitor C1 may be used as the ground terminal of the sensing circuit 51.
  • the oscillation circuit 512 includes a third capacitor C3 and a fourth capacitor C4.
  • the capacitance of the ground terminal of the sensing circuit 51 to the ground forms a third capacitance C3.
  • the capacitor coupled to the ground terminal to the mechanical device constitutes a fourth capacitor C4.
  • the fourth capacitor C4 is, for example, a capacitor generated when the ground terminal is coupled to the main metal conductor of the mechanical device (such as a metal bracket, a joint bracket, or other additional metal plates).
  • the fourth capacitor C4 is much larger than the third capacitor C3.
  • the calculation process of the oscillation frequency in the above two cases can be as follows:
  • the oscillation frequency f s detected by the detection circuit 513 is the oscillation frequency f s detected by the detection circuit 513:
  • the distance between the conductor and the electrode 32 is further calculated by the following method:
  • T1 is the first half period of the oscillation period
  • T2 is the second half period of the oscillation period
  • C comb is the equivalent capacitance
  • ⁇ is the capacitance coefficient
  • ⁇ is the dielectric constant
  • S is the area directly facing the electrode 32 and the external conductor
  • k is Static force constant.
  • an area between one-third and two-thirds of the area of each electrode 32 can be used as the area of the external conductor, and the area of the external conductor can be used as a parameter for detecting electrical signals.
  • the size of C2 is proportional to the area S between the electrode 32 and the external conductor, and inversely proportional to the distance d between the electrode 32 and the external conductor.
  • the area of the electrode 32 that has been installed on the robot is fixed, and the nearby external conductors can be conductive objects such as humans, animals, or other mechanical equipment, with different sizes and shapes, and the same external conductor approaches at different angles.
  • the area directly facing the electrode 32 is also different.
  • the area constituting C 2 may be equal to the area of each electrode 32 or may be smaller than the area of each electrode 32.
  • the oscillation circuit 512 may further include a fifth capacitor C5 and a sixth capacitor C6.
  • the first terminal of the fifth capacitor C5 is connected to the first terminal of the sixth capacitor C6, and the second terminal of the fifth capacitor C5 is connected to the first terminal.
  • the first end of the capacitor C1, the second end of the sixth capacitor C6 are connected to the second end of the first capacitor C1, and the first end of the fifth capacitor C5 is grounded.
  • the capacitance value of the fifth capacitor C5 is 10-20 pF, and may be 18 Pf.
  • the capacitance value of the sixth capacitor C6 is 10-20 pF, and may be 18 pF.
  • the oscillation circuit 512 may include a seventh capacitor C7 and an eighth capacitor C8.
  • the first end of the seventh capacitor C7 is connected to the first end of the eighth capacitor C8, and the second end of the seventh capacitor C7 is connected to the second end of the fifth capacitor C5.
  • the second end of the eighth capacitor C8 is connected to the second end of the sixth capacitor C6, and the first end of the seventh capacitor C7 is grounded.
  • the capacitance value of the seventh capacitor C7 can be selected as 10-20pF, and can be selected as 18pF.
  • the capacitance value of the eighth capacitor C8 can be selected to be 10-20 pF, or 18 pF.
  • the oscillation circuit 512 may further include a first resistor R1 and a second resistor R2.
  • the first resistor R1 is connected between the second end of the seventh capacitor C7 and the second end of the fifth capacitor C5, and the second resistor R2 is connected to the eighth capacitor. Between the second end of the capacitor C8 and the second end of the sixth capacitor C6.
  • the resistance of the first resistor R1 is 0-10 ⁇ , and may be 1-5 ⁇ .
  • the resistance of the second resistor R2 is 0-10 ⁇ , and may be 1-5 ⁇ .
  • the sensing circuit 51 may include a substrate (not shown), and a communication terminal 511, a power terminal 516, and a ground terminal 517 provided on the substrate.
  • the detection circuit 513 and the oscillation circuit 512 are integrated on the substrate.
  • the detection circuit 513 is integrated into a chip, and the oscillation circuit 512 is integrated on the substrate.
  • the connection terminal 514 may also be provided on the substrate.
  • the communication terminal 511 is used to output electrical signals
  • the power terminal 516 is used to couple to an external power source
  • the connection terminal 514 is coupled to the first terminal or the second terminal of the first capacitor C1.
  • the sensing circuit 51 is an FPC flexible circuit board.
  • FPC flexible circuit board also known as soft board, flexible board, flexible circuit board, is made of flexible insulating substrate (usually polyimide or polyester film) with high reliability and flexibility A printed circuit board.
  • the flexible circuit board has the characteristics of high wiring density, light weight, thin thickness and good bendability. It can be bent, wound, and folded freely, and can withstand millions of dynamic bending without damaging the wire. It can be arranged arbitrarily according to the space layout requirements, and can be moved and stretched in three-dimensional space, so as to achieve the integration of component assembly and wire connection ⁇ .
  • Using the FPC flexible circuit board can reduce the wiring thickness of the sensor circuit 51 and can reduce the weight and volume of the robot 1.
  • the detection circuit 513 is coupled to the communication terminal 511, the power terminal 516 and the ground terminal 517.
  • the detection circuit 513 outputs an electric signal through the communication terminal 511.
  • the power terminal 516 is coupled to the power source and supplies power to the sensing circuit 51.
  • the ground terminal 517 provides a grounding function.
  • the detection circuit 513 includes a first input terminal 5131, a second input terminal 5132, a detection power terminal 5133, a detection communication terminal 5134, and a detection ground terminal 5135.
  • the first input terminal 5131 is coupled to the first terminal of the first capacitor C1
  • the second input terminal 5132 is coupled to the second terminal of the first capacitor C1.
  • the detection power terminal 5133 is coupled to the internal power source.
  • the internal power supply can be formed by the external power supply after corresponding adaptation processing, which will be described later.
  • the detection communication terminal 5134 is coupled to the communication terminal 511, and the detection ground terminal 5135 and the ground terminal 517 are connected.
  • the detection communication terminal 5134 is, for example, an IIC communication terminal.
  • the detection circuit 513 may output an excitation signal to the oscillation circuit 512 through the first input terminal 5131 or the second input terminal 5132. In this way, corresponding to the input mode of the excitation signal in the single oscillation circuit 512, the detection circuit 513 outputs the excitation signal to the first end of the first capacitor C1 through the first input terminal 5131. It can also correspond to the two cases of switching between the first oscillation circuit 512a and the second oscillation circuit 512b. For example, when the excitation signal is output to the oscillation circuit 512 through the first input terminal 5131, the second input terminal 5132 can be grounded, so that The first terminal of the first capacitor C1 receives the excitation signal, and the second terminal of the first capacitor C1 is grounded.
  • the first input terminal 5131 may be grounded, so that the second end of the first capacitor C1 receives the excitation signal, and the first end of the first capacitor C1 is grounded .
  • the sensing circuit 51 may include a ninth capacitor C9, a tenth capacitor C10, and an eleventh capacitor C11.
  • the first end of the ninth capacitor C9, the first end of the tenth capacitor C10, and the first end of the eleventh capacitor C11 are mutually Coupled and coupled between the detection power terminal 516 and the internal power supply, the second end of the ninth capacitor C9, the second end of the tenth capacitor C10, and the second end of the eleventh capacitor C11 are coupled to each other and grounded. Further, the capacitance values of the ninth capacitor C9, the tenth capacitor C10 and the eleventh capacitor C11 are different.
  • the capacitance value of the ninth capacitor C9 is 0.5-2 ⁇ F
  • the capacitance value of the tenth capacitor C10 is 80-150 nF
  • the capacitance value of the eleven capacitor C11 is 8-15 nF.
  • the sensing circuit 51 may include a step-down circuit 519.
  • the step-down circuit 519 is coupled to the power supply terminal 516, and is used to step-down the input external power supply and output the working voltage to the detection circuit 513 (or power filter circuit) and the crystal oscillator circuit 518.
  • the external power supply of VCC_5V is inputted through the step-down process.
  • the circuit 519 can output the VCC_3.3V power supply as an internal power supply for the sensing circuit 51 to work.
  • the power supply output by the step-down circuit 519 has small ripple and low noise, thereby reducing the interference of power supply noise on the electrical signal.
  • the step-down circuit 519 includes a step-down chip 5191, a fifth resistor R5, a thirteenth capacitor C13, a fourteenth capacitor C14, a fifteenth capacitor C15, and a sixteenth capacitor C16, wherein the step-down chip 5191 includes an input interface 51911, ground interface 51912 coupled to ground, output interface 51913, BYPASS pin 51914, switch pin 51915, input interface 51911 is coupled to the first end of the fifth resistor R5, and the second end of the fifth resistor R5 is coupled to the power supply Terminal 511, the first end of the thirteenth capacitor C13 and the first end of the fourteenth capacitor C14 are respectively coupled to the first end of the fifth resistor R5, the second end of the thirteenth capacitor C13 and the first end of the fourteenth capacitor C14 The second end is grounded.
  • the step-down chip 5191 includes an input interface 51911, ground interface 51912 coupled to ground, output interface 51913, BYPASS pin 51914, switch pin 51915
  • the BYPASS pin 51914 is connected to the first end of the fifteenth capacitor C15.
  • the second end of the fifteenth capacitor C15 is grounded.
  • the output interface 51913 is used to output internal power.
  • the first end of the sixteenth capacitor C16 is coupled Connect to the output interface 51913, and the second end of the sixteenth capacitor C16 is grounded.
  • the resistance value of the fifth resistor R5 is, for example, 100-150 ⁇
  • the capacitance value of the thirteenth capacitor C13 is, for example, 8-15 ⁇ F
  • the capacitance value of the fourteenth capacitor is, for example, 80-150 nF
  • the capacitance value of the fifteenth capacitor C15 is, for example, 5.
  • the capacitance value of the sixteenth capacitor C16 is, for example, 0.8-3 ⁇ F.
  • the detection circuit 513 may include a crystal oscillator terminal 517, and the sensing circuit 51 includes a crystal oscillator circuit 518 coupled to the crystal oscillator terminal 517.
  • the crystal oscillator circuit 518 outputs a fixed crystal oscillator frequency to the detection circuit 513 through the crystal oscillator terminal 517, so that the detection circuit 513 can output an excitation signal to the oscillation circuit 512 during the oscillation period.
  • the crystal oscillator circuit 518 includes a crystal oscillator chip 5181, a third resistor R3, a fourth resistor R4, and a twelfth capacitor C12.
  • the crystal oscillator chip 5181 includes a power pin 51811, an output pin 81822, and a ground pin 51833.
  • the power pin 51811 is coupled to the internal power supply and the first end of the twelfth capacitor C12.
  • the second end of the twelfth capacitor C12 is grounded to output
  • the pin 81822 is coupled to the second end of the third resistor R3, the first end of the third resistor R3 is connected to the crystal oscillator terminal 517 and the first end of the fourth resistor R4, and the second end of the fourth resistor R4 is grounded.
  • the third resistor R3, the grounded fourth resistor R4, and the twelfth capacitor C12 are externally connected to both ends of the crystal oscillator chip 5181 to enable the crystal oscillator chip 5181 to gain gain to facilitate the start-up and ensure that the crystal oscillator circuit 518 continues to oscillate at a fixed frequency.
  • the capacitance value of the twelfth capacitor C12 is, for example, 80-150 nF, and optionally 100 nF.
  • the resistance value of the third resistor R3 is, for example, 0-10 ⁇ , and optionally 1-5 ⁇ .
  • the resistance value of the fourth resistor R4 is, for example, 40-60 ⁇ , and optionally 50 ⁇ .
  • the crystal oscillator circuit 518 After the crystal oscillator circuit 518 works, it can output a corresponding signal to the detection circuit 513, so that the detection circuit 513 works and outputs an excitation signal to the oscillation circuit 512.
  • the oscillation frequency of the oscillation circuit 512 is changed, so that the detection circuit 513 can use the capacitance between the electrode 32 and the external conductor or its change to detect the distance or the distance between the electrode 32 and the external conductor. The change results in an electrical signal representing the distance between the electrode 32 and the external conductor or its change.
  • Electrical resonant circuit 513 detects a detection circuit
  • the electrical signal may comprise measuring data DATA X, DATA X measurement data proportional to the measured oscillation rate f s and a preset ratio of the reference frequency f r.
  • the formula is as follows:
  • K is a preset coefficient related to the properties of the detection circuit 513, for example, the value range of K is 2 14 -2 28 .
  • the inductor L and the first capacitor C1 form an oscillating circuit with its fixed oscillation frequency as the preset reference frequency fr .
  • the crystal oscillator frequency of the crystal oscillator chip 5181 is used as the preset reference oscillation frequency fr .
  • the number of oscillation circuits 512 is at least two, which are respectively used for coupling different electrodes 32, and the detection circuit 513 is used for detecting the oscillation frequencies of at least two oscillation circuits 512 and correspondingly output at least two electrical signals.
  • the different electrodes 32 may be different mechanical arms 20 or different joints, and may also be located at different positions on the same mechanical arm 20 or at different positions on the same joint.
  • the detection circuit 513 of the present application is coupled to the electrode 32 on the electronic skin 30 through the connection terminal 514.
  • the electrode 32 can form a capacitance with the approaching conductor.
  • the capacitance value of the capacitance will also change.
  • the characterization is generated by connecting the electrode 32
  • the detection circuit 513 of the electrical signal of the capacitance or its change can further obtain the distance between the electrode 32 and the conductor or its change, so that the detection circuit 513 of the mechanical equipment can sense the proximity of the external conductor, and realize non-contact distance sensing. Measurement.
  • the microprocessor of the logic circuit board 52 receives through the first communication terminal 522 the electrical signal representing the distance between the electrode 32 of the sensing circuit 51 and the external conductor or its change, and filters the electrical signal to obtain a filtered electric signal. Filtering the electrical signal can reduce the noise interference in the circuit and improve the accuracy of the electrical signal.
  • the logic circuit board 52 outputs the filtered electrical signal to the joint control board 53 or the main controller board 54 through the second communication terminal 523, and the microprocessor 531 or the main controller of the joint control board 53
  • the microprocessor 541 of the board 54 calculates the distance between the electrode 32 and the external conductor or the value of its change based on the electrical signal.
  • the microprocessor 521 of the logic circuit board 52 receives through the first communication terminal 522 an electrical signal from the sensor circuit 51 that characterizes the distance between the electrode 32 and the external conductor or its change, according to the electrical signal The distance between the electrode 32 and the external conductor or the value of its change is calculated.
  • the distance between the electrode 32 and the external conductor or the value of the change can be calculated according to the electrical signal. Way to calculate:
  • CH X _FIN_SEL is the configuration value of the register in the chip integrated by the detection circuit, and its value is related to the chip used and can be configured, and the value of CH X _FIN_SEL can be read from the chip.
  • T 1 T 2 , calculate the second capacitance C2 according to the oscillation frequency f s , which can be specifically calculated using the differential integration method:
  • the second capacitance C2 can be calculated according to the oscillation frequency f s , which can be specifically calculated by applying the differential integration method:
  • ⁇ is the dielectric constant
  • S is the area facing the electrode 32 and the external conductor
  • k is the electrostatic force constant
  • the detection circuit 513 is used to detect the oscillation frequencies of the at least two oscillating circuits 512 and output at least two electrical signals accordingly.
  • the microprocessor 541 of the main controller board 54 obtains at least two electrical signals from the sensing circuit 51, and calculates each electrical signal from the sensing circuit 51 to obtain a characterization of the distance between the external conductor and the electrode 32 or Varying electrical signals.
  • the microprocessor 541 of the main controller board 54 can then use the electrical signal to characterize the distance between the external conductor and the electrode 32 or its change.
  • the electrical signal representing the smallest distance between the external conductor and the electrode 32 or the largest change is determined as the electrical signal representing the distance between the external conductor and the electrode 32 or its change.
  • the electrodes A and B on the robot 1 both sense the proximity of the external conductor and respectively generate electrical signals representing the distance between the external conductor and the electrode 32.
  • the robot 1 can calculate the distance between the external conductor and each electrode 32 or its change based on the electrical signal.
  • the electrical signal corresponding to the smallest distance or the largest distance change is selected as the electrical signal representing the distance between the external conductor and the robot 1 or its change. For example, if the distance between the external conductor and the electrode A is calculated to be greater than the length between the external conductor and the electrode B, then the electrical signal corresponding to the electrode A is selected as the electrical signal representing the distance between the external conductor and the robot 1.
  • the robot 1 can also determine the electrical signal representing the smallest distance or the largest change between the external conductor and the electrode 32 from the generated electrical signals, as the electrical signal representing the distance between the external conductor and the robot 1 or its change Electrical signal.
  • the electrodes A and B on the robot 1 both sense the proximity of the external conductor and respectively generate electrical signals representing the distance between the external conductor and the electrode 32.
  • the robot 1 can calculate the distance between the external conductor and each electrode 32 or its change based on the electrical signal. Then, the electrical signal corresponding to the smallest distance or the largest distance change is selected as the electrical signal representing the distance between the external conductor and the metal frame of the robot 1 or its change.
  • the electrical signal corresponding to the electrode A is selected as the electrical signal representing the distance between the external conductor and the robot 1.
  • the microprocessor 541 of the main controller board 54 obtains the electrical signals that characterize the distance between the external conductor and the electrode 32 or its changes, it can also be based on the distance between the external conductor and the electrode 32. Or the coordinates of the respective electrical signals and the corresponding electrodes 32 of the change, to calculate the coordinates of the external conductor relative to the robot.
  • the coordinates of the electrode 32 are, for example, the coordinates of the electrode 32 relative to the whole or some parts of the robot 1 in the current movement state of the robot 1, for example, the coordinates relative to the base 40 of the robot 1.
  • the coordinates of the electrode 32 may also be spatial coordinates relative to the current motion environment of the robot 1.
  • the calculated coordinates of the external conductor may be relative to the coordinates of the robot 1 as a whole or some parts. In this embodiment, the more electrical signals generated when the robot 1 detects the proximity of the external conductor, the more accurate the coordinates of the external conductor calculated based on the coordinates of the electrical signal and the corresponding electrode 32.
  • the electrodes A and B on the robot 1 both sense the proximity of the external conductor and respectively generate electrical signals representing the distance between the external conductor and the electrode 32.
  • a coordinate system is established with the base 40 of the robot 1 as the center.
  • the robot 1 obtains the respective coordinates of the electrode A and the electrode B in the current motion state, and calculates the coordinates of the external conductor according to the electrical signal corresponding to each electrode 32 and the coordinates of the corresponding electrode 32 coordinate.
  • each electrical signal from the sensing circuit 51 corresponds to a different electrode 32, and the different electrodes 32 are located at different positions of the same robot arm 20, at different positions of the same joint 10, or at different robot arms 20 or joints. 10 on.
  • the detection circuit 513 of the present application is coupled to the electrode 32 on the electronic skin 30 through the connection terminal 514.
  • the electrode 32 can form a capacitance with the approaching conductor.
  • the capacitance value of the capacitance will also change.
  • the characterization is generated by connecting the electrode 32
  • the detection circuit 513 of the electrical signal of the capacitance or its change can further obtain the distance between the electrode 32 and the conductor or its change, so that the detection circuit 513 of the mechanical equipment can sense the proximity of the external conductor, and realize non-contact distance sensing. Measurement.

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Abstract

一种传感电路、逻辑电路板、关节控制板、主控器板及机器人。该传感电路（51）包括连接端子（514）和检测电路（513），连接端子（514）用于耦接位于机械设备的壳体上的电极（32）；检测电路（513）耦接连接端子（514），以利用电极（32）与外界导体之间的电容或其变化检测电极（32）与外界导体之间的距离或其变化，得到表征电极（32）与外界导体之间的距离或其变化的电信号。能够实现机械设备对接地物体非接触式的距离检测。

Description

传感电路、逻辑电路板、关节控制板、主控器板及机器人 【技术领域】
本申请涉及电子皮肤传感技术领域，特别是涉及机械设备的的电子皮肤传感电路、逻辑电路板、关节控制板、机器人主控器板、机器人控制系统以及机器人。
【背景技术】
目前，机械设备探测接近物体的主要方法是通过壳体和物体进行物理接触。以接触式的电阻式壳体为例，电阻式壳体依靠接近物体与机器人接触后引起壳体的形变。现有的传感器都是通过检测直接接触的信号，进行相应的距离检测，容易导致机械设备与物体进行接触容易造成物体的损坏。
【发明内容】
本申请主要提供一种机械设备的的电子皮肤传感电路、逻辑电路板、关节控制板、机器人主控器板、机器人控制系统以及机器人，以解决机械设备无法实现对接地物体非接触式的距离检测的技术问题。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种机械设备的电子皮肤传感电路。该传感电路包括连接端子，用于耦接位于机械设备的壳体上的电极；检测电路，耦接所述连接端子，以利用所述电极与外界导体之间的电容或其变化检测所述电极与外界导体之间的距离或其变化，得到表征所述电极与外界导体之间的距离或其变化的电信号。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种逻辑电路板。该逻辑电路板包括微处理器、第一通信端子、第二通信端子；其中，所述微处理器分别耦接所述第一通信端子与第二通信端子，所述第一通信端子用于与如上述的传感电路耦接，所述第二通信端子用于与机器人控制板连接。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种关节控制板。该关节控制板包括微处理器、电机驱动电路、第一通信端子、第二通信端子；其中，所述微处理器分别耦接所述电机驱动电路、所述第一通信端子、第二通信端子，所述第一通信端子用于与如上述的逻辑电路板耦接，所述第二 通信端子用于与机器人主控板连接；所述电机驱动电路用于驱动机器人运动。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种机器人主控器板。该机器人主控器板包括微处理器、第一通信端子、第二通信端子；其中，所述微处理器分别耦接所述第一通信端子、第二通信端子以，所述第一通信端子用于与如权上述的逻辑电路板或如上述的关节控制板耦接，所述第二通信端子用于与机器人主控板连接；所述微处理器用于处理来自所述传感电路的所述电信号以得到表征所述外界导体与所述电极之间的距离或其变化的电信号。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种机器人控制系统。该机器人控制系统包括如上述的传感电路、如上述的逻辑电路板、如上述的关节控制板以及如上述的机器人主控器板。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种机器人。该机器人包括如上述的机器人控制系统。
本申请的有益效果是：区别于现有技术，本申请公开的机械设备的电子皮肤传感电路，检测电路通过连接端子耦接位于电子皮肤上的电极。当接近的导体靠近电极时，电极能够与接近的导体构成电容，当接近的导体与电极的相对位置关系发生变化时，电容的容值也会发生变化，通过使电极连接生成表征电容或其变化量的电信号的检测电路，能够进一步获得电极与导体的距离或其变化，从而使得机械设备的检测电路能够感测到外部导体的接近，实现非接触式的距离感测。
【附图说明】
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的装置的结构示意图；
图2是本申请实施例提供的电子皮肤的结构示意图；
图3是本申请实施例提供的机器人控制系统的电路结构示意框图；
图4是本申请实施例提供的机器人控制系统的通信架构示意框图；
图5是本申请实施例提供的传感电路的电路结构示意图；
图6是本申请实施例提供的单振荡方式的振荡电路的一等效电路示意图；
图7是本申请实施例提供的单振荡方式的振荡电路的另一等效电路示意图；
图8是本申请实施例提供的双振荡方式的第一振荡电路和第二振荡电路的一等效电路示意图；
图9是本申请实施例提供的第一振荡电路和第二振荡电路的另一等效电路示意图；
图10是本申请实施例提供的降压电路的结构示意图。
【具体实施方式】
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例中的术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括至少一个该特征。本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
请结合参阅图1，图1是本申请实施例提供的装置的结构示意图。本申请的装置例如是机械设备、机械装置，具体可以是机器人1，机器人1可以包括至少一个关节10、至少一个机械臂20和至少一块电子皮肤30。
需要说明的是，图1仅示例性的画出电子皮肤30覆盖机器人1的部分表面，可以理解，电子皮肤30也可以覆盖机器人1的整个表面。
机器人1可以包括基座40，基座40与至少一个关节10或机械臂20连接。基座40放置于或固定于工作台/工作面，为机器人1提供稳固的工作环境。当然，基座40也可以是可移动的，例如是在基座40底部安装有驱动轮，可以驱动机器人1进行移动，便于机器人1适应移动式工作场景，增加机器人1的灵活性。
本实施例中，机械臂20至少一个端部与一个关节10连接。关节10例如包括至少一个驱动部件(图未示)，能够驱动机械臂20摆动。机器人1可以包括一个关节10和一个机械臂20，也可以包括多个关节10和多个机械臂20，关节10和机械臂20的数量以机器人1实际设计及使用需求为准，在此不做限制。当机械臂20的数量为多个时，两个机械臂20之间通过各自端部连接的关节10可转动连接，通过至少两个关节10的相对转动，以实现机械臂20的运动。
在一些实施方式中，机械臂20包括金属支架(图未示)与机器人控制系统50。机器人控制系统50耦接电子皮肤30，电子皮肤30可包覆于金属支架外表面。金属支架例如是机械臂20的金属框架或者外壳，能够为电子皮肤30提供依附场地。需要说明地是，金属支架接地设置，以保证机器人的正常工作。电子皮肤30可以配合机器人控制系统50，用于控制机械臂20进行操作，例如转动、摆动、避障等。
在另一些实施方式中，关节10包括关节支架(图未示)与机器人控制系统50。机器人控制系统50耦接电子皮肤30，电子皮肤30可包覆于关节支架外表面。可选地，关节支架的材料例如是金属等导电材料，关节支架可以接地，以保证机器人1的正常工作。当然，机械臂20的转动和驱动等也可以由关节10来完成，电子皮肤30配合机器人控制系统50，用于控制关节10以及机械臂进行操作，例如转动、摆动、避障等。
可以理解的是，至少一个关节10的关节支架和至少一个机械臂20的金属支架外表面均可包覆至少一个电子皮肤30，机器人控制系统50可以设置于机械臂20或者关节10中，同时设置于关节10和机械臂20中。当然，机械臂20和关节10也可以共用同一个机器人控制系统50，也可以分别设置不同的机器人控制系统50。
请参阅图2，图2是本申请实施例提供的电子皮肤的结构示意图。电子皮肤30可以包括本体31和至少一个电极32，电极32设置于本体31上。电极32包 括相互连接的感测区域321以及连接区域322。电极32的感测区域321能够与接近的外界导体(图未示)构成第二电容C2，电极32的连接区域322用于将表征电容或其变化量的电信号传输至机器人控制系统50。
在外界导体，例如人体，靠近机械臂20和/或关节10时与电子皮肤30形成第二电容C2，进而机器人控制系统50可以产生表征外界导体与电极32之间的电容或其变化的电信号并计算电极32与外界导体之间的距离或其变化，从而感知外界导体(例如人体)与人体之间的距离，可以对关节10和/或机械臂20发出指令，控制机器人1作出相应的反应，避免碰撞外界导体或减轻碰撞程度。
电极32覆盖在机械臂20或关节10的外侧，而且电极32的形状与机械臂20或关节10的外侧的形状相匹配。
电极32覆盖在机械臂20或关节10的外侧是指：电极32覆盖在机械臂20或关节10远离机器人1的一侧，以方便与接近的导体构成电容。
电极32的形状与机械臂20或关节10的外侧的形状相匹配，即电极32贴附于机械臂20或关节10的一侧的形状与机械臂20或关节10外侧表面的形状一致或基本一致。
由于电极32的形状与机械臂20或关节10的外侧的形状相匹配，使得电极32贴附于机械臂20或关节10的外侧，以得到更好的固定效果，并能够增强机器人1整体的结构稳定性，提高使用性能，并且使得机器人1的外观更加美观。
请参阅图3，图3是本申请实施例提供的机器人控制系统的电路结构示意框图。机器人控制系统50可以包括传感电路51、逻辑电路板52、关节控制板53、机器人主控器板54。传感电路51耦接逻辑电路板52，逻辑电路板52耦接关节控制板53，关节控制板53耦接机器人主控器板54。当然，逻辑电路板52也可以直接耦接机器人主控器板54。或者传感电路51也可以直接耦接机器人控制板。需要说明的是，本申请中机器人控制板可以是关节控制板53，也可以是机器人主控器板54。
对于机械臂20包括机器人控制系统50而言，传感电路51、逻辑电路板52、关节控制板53和机器人主控器板54并不限制于仅设置于机械臂20，也可以部分电路或者电路板设置于关节10，或者机器人的其他部位。对于关节10包括机器人控制系统50而言，传感电路51、逻辑电路板52、关节控制板53和机器人主控器板54并不限制于仅设置于关节10，也可以部分电路或者电路板设置于机械臂20，或者机器人的其他部位。例如机械臂20和关节10共用同一个机器人 控制系统50，关节10和机械臂20上均可以设置有电子皮肤30，机械臂20内可以设置一传感电路51，关节10内也可以设置另一传感电路51，或者机械臂20和关节10共用一个传感电路51，关节10和机械臂20的传感电路51可以耦接到同一个逻辑电路板52，该逻辑电路板52可以设置于关节10内，逻辑电路板52耦接关节10控制板53，关节控制板53可以设置于关节10内，关节控制板53可以耦接到机器人主控器板54，机器人主控器板54可以设置于机器人的基座40、关节10、机械臂20等部位。
传感电路51、逻辑电路板52、关节控制板53和机器人主控器板54中的两者或者两者以上可以集成为同一块电路板。通过减少电路板使用的数量，能够减小电路板以及排线所占用的空间及成本，还可以减小电信号在不同电路板之间传输过程中的损耗或干扰，从而使得最终计算得到的电极32与外界导体的距离或其变化的数值更加精确。
请参阅图4，图4是本申请实施例提供的机器人控制系统的通信架构示意框图。需要说明的是，图4仅示例性的画出机器人控制系统的通信架构，可以理解，传感电路51、逻辑电路板52、关节控制板53和机器人主控器板54的数量可以根据实际需求增加或减少。传感电路51可以包括通信端子511。逻辑电路板52包括微处理器521、第一通信端子522和第二通信端子523，微处理器521分别耦接第一通信端子522与第二通信端子523，第一通信端子522耦接传感电路51的通信端子511。关节控制板53包括微处理器531、电机驱动电路532、第一通信端子533和第二通信端子534，微处理器534分别耦接电机驱动电路532、第一通信端子533、第二通信端子534，电机驱动电路532用于驱动机器人1运动。机器人主控器板54包括微处理器541、第一通信端子542和第二通信端子543，微处理器541分别耦接第一通信端子542、第二通信端子543，第一通信端子542用于逻辑电路板52的第二通信端子523或关节控制板53的第二通信端子533耦接。
传感电路51的通信端子511耦接逻辑控制板52的第一通信端子522，逻辑电路板52的第二通信端子523耦接关节控制板53的第一通信端子533或主控器板54的第一通信端子542，主控器板54的第一通信端子542耦接关节控制板53的第二通信端子534或逻辑电路板52的第二通信端子533，主控器板54的第二通信端子543可以连接其他必要的电路或者部件。通过各电路板之间的通信端子之间的耦接关系，可以实现电信号在各电路板之间的传输。
可选地，逻辑电路板52的第二通信端子523、关节控制板53的第一通信端子533为RS485通信端子。
在一些其他的实施方式中，逻辑电路板52的第二通信端子523还可以直接与主控器板54的第一通信端子542耦接，逻辑电路板52通过第二通信端子523直接将电信号输送至主控器板54，如此省却关节控制板53，可以减少电信号在不同电路板之间传输过程中的损耗或干扰。
本实施例中，逻辑电路板52用于向传感电路51发送第一询问信息。传感电路51用于响应第一询问信息，发送包括表征电极32与外界导体之间的距离或其变化的电信号在内的第一应答信息给逻辑电路板52，以使得逻辑电路板52对电信号进行处理。关节控制板53用于向逻辑电路板52发送第二询问信息。逻辑电路板52用于响应第二询问信息，发送包括处理后的电信号在内的第二应答信息给关节控制板53。关节控制板53将处理后的电信号发送给机器人主控器板54。关节控制板53用于计算处理后的电信号，得到表征外界导体与电极32之间的距离或其变化的电信号。
本实施例主控器板54与关节控制板53连接，关节控制板53与逻辑电路板52连接，逻辑电路板52与传感电路51连接，关节控制板53向逻辑电路板52发送询问信息，逻辑电路板52向关节控制板5354返回传感电路51检测到的电子皮肤30感应到的电信号，关节控制板53在主控器板54向关节控制板53发送询问信息时返回此电信号，能够实现主控制器板54对全机器人上的电子皮肤30的统一管理，更方便可靠地实现电子皮肤30在机器人1上的应用。
在本实施例中，逻辑电路板52可以为传感电路51进行供电，例如逻辑电路板52可以包括第一电源端子524、第二电源端子525。第一电源端子524耦接第二电源端子525和微处理器521，且用于耦接外部电源。第二电源端子525用于与传感电路51耦接，具体可以耦接传感电路51的电源端子516，进而为传感电路51供电。
逻辑电路板52的第一电源端子524所耦接的外部电源，可以来自于关节控制板53。也就是说，关节控制板53可以为逻辑电路板52进行供电。例如关节控制板53包括第一电源端子535和第二电源端子536。第一电源端子535耦接第二电源端子536和微处理器531，且用于耦接外部电源。第二电源端子536用于耦接逻辑电路板52，具体可以耦接逻辑电路板52的第一电源端子525，进而为逻辑电路板52供电。
关节控制板53的外部电源可以直接为外部电源，也可以来自于主控器板54。
请参阅图5，图5是本申请实施例提供的传感电路的电路结构示意图。传感电路51包括振荡电路512、检测电路513及连接端子514。振荡电路512和检测电路513共同耦接连接端子514，连接端子514耦接位于电子皮肤30的电极32。振荡电路512通过连接端子514耦接电极32，以在外界导体靠近电极32形成电容时改变其振荡频率。检测电路513耦接振荡电路512，以检测振荡电路512的振荡频率并输出表征振荡频率的电信号。
在一些实施方式中，振荡电路512以单振荡的方式进行振荡，检测电路513可以测量振荡电路512的振荡频率。请参阅图5，图5是本申请提供的单振荡方式的振荡电路等效电路示意图。
具体地，振荡电路512可以包括电感L和第一电容C1，电感L和第一电容C1构成振荡回路。振荡电路512可以LC并联谐振型的振荡电路512也可以是LC串联谐振型的振荡电路512。振荡电路512耦接检测电路513，检测电路513用于在振荡周期内向振荡回路输出激励信号，具体可以是在振荡周期内输出激励信号至第一电容C1的第一端。第一电容C1的第一端与连接端子514耦接，并通过连接端子514耦接位于电子皮肤30的电极32。通过上述方式，可以使得检测电路513所输出的激励信号一直输出至第一电容C1的第一端，使得振荡电路512以单振荡方式进行振荡，检测电路513检测振荡电路512的振荡频率或其频率变化。可选地，第一电容C1的电容值为15-40pF。
当电极32与外界导体之间的距离小于一定范围时，电极32与外界导体构成第二电容C2。第二电容C2接入振荡电路512中，从而改变了振荡电路512的等效电容值，进而会改变振荡电路的振荡频率。如此振荡频率的改变和第二电容C2建立关联，由于第一电容C1和电感L作为已知的情况下可以计算第二电容C2或者是与外界导体与电极32之间的距离相关的数据等。
参阅图6，图6是本申请实施例提供的单振荡方式的振荡电路的一等效电路示意图。对于单振荡实施方式的一种情况为：第一电容C1的第二端耦接大地earth。
其整个振荡周期：
Figure PCTCN2019106040-appb-000001
检测电路513检测到的振荡频率为：
Figure PCTCN2019106040-appb-000002
参阅图7，图7是本申请实施例提供的单振荡方式的振荡电路的另一等效电路示意图。对于单振荡实施方式的另一情况而言，振荡电路512可以包括第三电容C 3和第四电容C4。传感电路51的接地端对大地earth的电容构成第三电容C3。接地端耦接至机械设备上的电容构成第四电容C4。第四电容C4例如是接地端耦接至机械设备上主体金属导体上(例如金属支架、关节支架或者是其他额外设置的金属板等)产生的电容，第四电容C4远大于第三电容C3。由于在此种方式下，第一电容C1的第二端接地(信号地)，因此传感电路51的接地端可以耦接为第一电容C1的第二端，或者可以将第二电容C2的第二端作为传感电路51的接地端。在本实施例中，除了明确说明耦接大地earth之外，其余的接地为耦接信号地或者电源地。
例如对于该种情况的单振荡的振荡频率的计算过程可以如下：
Figure PCTCN2019106040-appb-000003
Figure PCTCN2019106040-appb-000004
由于将接地端连接至金属框架上，相当于在所述第三电容C3上并联了一个很大的电容，即第三电容C3与第四电容C4并联，实际上增大了所述第三电容C3的等效电容。也即上述公式变为，
Figure PCTCN2019106040-appb-000005
因此上述β≈1。
在振荡周期的前半周期：
Figure PCTCN2019106040-appb-000006
在振荡周期的后半周期：T 2＝T 1。
检测电路513检测到的振荡频率为：
Figure PCTCN2019106040-appb-000007
其中，T 1为震荡周期的前半周期，T 2为震荡周期的后半周期，C comb为等效电容，β为电容系数。
由于L、C1是确定的，β≈1，f s被检测电路513检测到，因此f s也是确定的，如此可以根据上述公式计算出C2。
在另一些实施方式中，振荡电路512以双振荡的方式进行振荡，检测电路513可以测量振荡电路512的振荡频率。
传感电路51可以包括切换电路，切换电路耦接振荡电路512。振荡电路512包括构成振荡回路的电感L和第一电容C1。振荡电路512可以是LC并联谐振型的振荡电路512，也可以是LC串联谐振型的振荡电路512。
振荡电路512可以包括第一振荡电路512a和第二振荡电路512b。在一些情况下，第一振荡电路512a和第二振荡电路512b可以视为振荡电路512两个状态。电极32可以属于第一振荡电路512a或第二振荡电路512b中的一个，切换电路可以交替切换第一振荡电路512a和第二振荡电路512b。切换电路切换第一振荡电路512a和第二振荡电路512b的情况有多种，如下所示：
在第一种情况中，切换电路可以通过切换电极32与振荡电路512的连接位置，实现第一振荡电路512a和第二振荡电路512b的切换。请参阅图8，图8是本申请实施例提供的双振荡方式的第一振荡电路和第二振荡电路的一等效电路示意图。
切换电路在振荡周期的前半周期将电极32耦接至第一电容C1的第一端，使得第一电容C1和电极32与外界导体构成的第二电容C2串联，电感、第一电容C1以及电极32构成第一振荡电路512a。也即，在振荡周期的前半周期电极32与第一电容C1的第一端耦接，两者具体可以通过连接端子514进行耦接。电感、第一电容C1以及电极32构成第一振荡电路512a，例如是检测电路513b可以将激励信号输出至第一电容C1的第一端，使得电极32和外界导体所构成的第二电容C2产生的电容信号能够影响振荡电路512的等效电容值，从而使得电感L、第一电容C1以及电极32构成第一振荡电路512a。
切换电路在振荡周期的后半周期将电极32耦接至第一电容C1的第二端，使得振荡电路512不包括电极32，电感L、第一电容C1构成第二振荡电路512b。也即，在振荡周期的后半周期将电极32与第一电容的第二端耦接，两者具体可以通过连接端子514进行耦接。振荡电路512不包括电极32，例如检测电路513可以将激励信号输出至第一电容C1的第一端，第一电容的C1的第二端接地，因此电极32相当于接地，则无法影响到振荡电路512的等效电容，也即振荡电路512不包括电极32，第二振荡电路512由电感和第一电容C1构成。
在此种情况中，第一电容C1的第二端接地，可以耦接至传感电路51的接地端，或者第一电容C1的第二端可以作为传感电路51的接地端。
在第二种情况中，切换电路通过切换检测电路513输出的激励信号在振荡电路512的输出位置，实现第一振荡电路512a和第二振荡电路512b的切换。 请参阅图9，图9是本申请实施例提供的第一振荡电路和第二振荡电路的另一等效电路示意图。
所述电极32耦接所述第一电容C1的第一端，且用于与外界导体构成第二电容C2。在此种情况中，电极32与第一电容C1的第一端的连接关系可以稳定不变。切换电路在振荡周期的前半周期将检测电路513输出的激励信号输出至第一电容C1的第一端，第一电容C1的第二端接地，电感L、第一电容C1以及电极32构成第一振荡电路512a。如此，外界导体和电极32构成的电容产生的电容信号会影响到振荡电路512的等效电容，电感L、第一电容C1以及电极32构成第一振荡电路512a。
切换电路在振荡周期的后半周期将检测电路513输出的激励信号输出至第一电容C1第二端，第一电容C1的第一端接地，使得振荡电路512不包括电极32，电感、第一电容C1构成第二振荡电路512。如此，电极32通过第一电容C1的第一端接地，无法影响到振荡电路512的等效电容，进而使得振荡电路512不包括电极32，电感L、第一电容C1构成第二振荡电路512b。
在此种情况中，第一电容C1的第一端接地，可以耦接至传感电路51的接地端，或者第一电容C1的第一端可以作为传感电路51的接地端。
对于上述第一种情况和第二种情况而言，振荡电路512包括第三电容C3和第四电容C4。传感电路51的接地端对大地的电容构成第三电容C3。接地端耦接至机械设备上的电容构成第四电容C4。第四电容C4例如是接地端耦接至机械设备上主体金属导体上(例如金属支架、关节支架或者是其他额外设置的金属板等)产生的电容，第四电容C4远大于第三电容C3。
例如，上述两种情况振荡频率的计算过程可以如下：
Figure PCTCN2019106040-appb-000008
由于将接地端连接至金属框架上，相当于在所述第三电容C3上并联了一个很大的电容，即第三电容C3与第四电容C 4并联，实际上增大了所述第三电容C3的等效电容。因此上述β≈1。
振荡周期的前半周期：
Figure PCTCN2019106040-appb-000009
振荡周期的后半周期：
Figure PCTCN2019106040-appb-000010
检测电路513检测到的振荡频率f s：
Figure PCTCN2019106040-appb-000011
由于L、C1是确定的，β≈1，f s被检测电路513检测到，因此f s也是确定的，如此可以根据上述公式计算出C2。
对于上述单振荡和双振荡方式所检测出的振荡频率f s计算出的C2，例如通过如下方式进一步计算导体和电极32之间的距离：
根据C2计算电极32与外界导体之间的距离d：
Figure PCTCN2019106040-appb-000012
其中，T1为震荡周期的前半周期，T2为震荡周期的后半周期，C comb为等效电容，β为电容系数，ε为电介质常数，S为电极32与外界导体的正对面积，k为静电力常数。
在本实施例中，可以将每一电极32面积的三分之一至三分之二之间的面积作为外界导体的面积，并将该外界导体的面积作为检测电信号的参数。由电容的计算公式可知，C2的大小与电极32与外界导体之间的正对面积S成正比，与电极32和外界导体之间的距离d成反比。本申请中，已经安装在机器人上的电极32的面积是固定的，而接近的外界导体可以是人、动物或其他机械设备等导电物体，大小形状各不相同，并且，同一外界导体不同角度接近电极32时，与电极32的正对面积也是不相同的。因此构成C 2的面积可能等于每一电极32的面积，也有可能小于每一电极32的面积。经过发明人长期研究和试验总结得出，取电极32面积的三分之一至三分之二之间的某一数值作为外界导体的面积作为电信号的参数，在外界导体与电极32之间的正对面积S确定的情况下，能够根据C 2的大小较为准确计算出外界导体与电极32之间的距离，也即外界导体与机器人的距离。特别是对于外界导体是人体的情况下，利用数值的计算得出的第二电容更为精确。
可选地，振荡电路512可以进一步包括第五电容C5和第六电容C6，第五电容C5的第一端与第六电容C6的第一端连接，第五电容C5的第二端连接第一电容C1的第一端，第六电容C6的第二端与第一电容C1的第二端连接，第五电容C5的第一端接地。可选地，第五电容C5的电容值为10-20pF，可选为18Pf。可选地，第六电容C6的电容值为10-20pF，可选为18pF。通过在振荡电 路512中并联第五电容C5和第六电容C6，能够降低振荡电路512中的信号传输到检测电路513时受到的电磁干扰的辐射影响。
振荡电路512可以包括第七电容C7和第八电容C8，第七电容C7的第一端与第八电容C8的第一端连接，第七电容C7的第二端连接第五电容C5的第二端，第八电容C8的第二端与第六电容C6的第二端连接，第七电容C7的第一端接地。第七电容C7的电容值可选为10-20pF，可选为18pF。第八电容C8的电容值可选为10-20pF，可选为18pF。通过振荡电路512中并联第七电容C7和第八电容C8，能够降低振荡电路512中的电磁干扰敏感度。
振荡电路512还可以包括第一电阻R1和第二电阻R2，第一电阻R1连接于第七电容C7的第二端和第五电容C5的第二端之间，第二电阻R2连接于第八电容C8的第二端和第六电容C6的第二端之间。可选地，第一电阻R1的阻值为0-10Ω，可选为1-5Ω。可选地，第二电阻R2的阻值0-10Ω，可选为1-5Ω。通过设置第一电阻R1和第二电阻R2，能够降低振荡电路512中的电磁干扰。
传感电路51可以包括基板(图未示)以及设置于基板上的通信端子511、电源端子516和接地端子517。检测电路513和振荡电路512集成于基板上。例如检测电路513集成为一芯片，与振荡电路512集成于基板上。连接端子514也可以设置于基板上。其中通信端子511用于输出电信号，电源端子516用于耦接外部电源，连接端子514耦接所述第一电容C1的第一端或者第二端。
可选地，传感电路51为FPC柔性电路板。FPC柔性电路板，又称软板、挠性板、柔性电路板，是用柔性的绝缘基材(通常用聚酰亚胺或聚酯薄膜)制成的一种具有高度可靠性的可挠性印刷电路板。柔性电路板具有配线密度高、重量轻、厚度薄、弯折性好的特点。可以自由弯曲、卷绕、折叠，可以承受数百万次的动态弯曲而不损坏导线，可依照空间布局要求任意安排，并在三维空间任意移动和伸缩，从而达到元器件装配和导线连接的一体化。采用FPC柔性电路板能够减小传感电路51的排线厚度，并能够降低机器人1的重量和体积。
检测电路513耦接通信端子511、电源端子516、接地端子517。检测电路513通过通信端子511输出电信号。电源端子516耦接电源，为传感电路51供电。接地端子517提供接地功能。
进一步地，检测电路513包括第一输入端子5131、第二输入端子5132和检测电源端子5133、检测通信端子5134和检测接地端子5135。第一输入端子5131耦接第一电容C1的第一端，第二输入端子5132耦接第一电容C1的第二端。检 测电源端子5133耦接内部电源。内部电源可以由外界电源进行相应的适配处理后形成，后文会进行说明。检测通信端子5134耦接通信端子511，检测接地端子5135和接地端子517连接。检测通信端子5134例如为IIC通信端子。
检测电路513可以通过第一输入端子5131或者第二输入端子5132输出激励信号至振荡电路512。如此，可以对应于在上述单振荡电路512的激励信号的输入方式，检测电路513通过第一输入端子5131输出激励信号至第一电容C1的第一端。也可以对应于第一振荡电路512a和第二振荡电路512b进行切换的两种情况，例如通过第一输入端子5131输出激励信号至振荡电路512时，第二输入端子5132可以进行接地处理，以使得第一电容C1的第一端接收激励信号，而第一电容C1的第二端接地。例如通过第二输入端子5132输出激励信号至振荡电路512时，第一输入端子5131可以进行接地处理，以使得第一电容C1的第二端接收激励信号，而第一电容C1的第一端接地。
传感电路51可以包括第九电容C9、第十电容C10和第十一电容C11，第九电容C9的第一端、第十电容C10的第一端和第十一电容C11的第一端相互耦接且耦接于检测电源端子516和内部电源之间，第九电容C9的第二端、第十电容C10的第二端和第十一电容C11的第二端相互耦接且接地。进一步地，第九电容C9、第十电容C10和第十一电容C11的电容值大小不同，例如第九电容C9的电容值为0.5-2μF，第十电容C10的电容值为80-150nF，第十一电容C11的电容值为8-15nF。通过在内部电源的输出端并联三个容量不同的接地电容，能够过滤不同频率段的纹波和干扰波，具体而言，电容量较大的电容过滤较低频率的干扰，电容量较小的电容过滤角高频率的干扰，从而降低电源噪声对电信号的干扰。
请参阅图10，图10是本申请实施例提供的降压电路的结构示意图。传感电路51可以包括降压电路519。降压电路519耦接电源端子516，用于将输入的外部电源进行降压处理并输出工作电压给检测电路513(或电源滤波电路)和晶振电路518，例如输入VCC_5V的外部电源，通过降压电路519可输出VCC_3.3V电源作为内部电源，供传感电路51进行工作。降压电路519输出的电源纹波小，噪声低，从而能够减少电源噪声对电信号的干扰。
具体地，降压电路519包括降压芯片5191、第五电阻R5、第十三电容C13、第十四电容C14、第十五电容C15和第十六电容C16，其中降压芯片5191包括输入接口51911、与地耦接的接地接口51912、输出接口51913、BYPASS引脚 51914、开关引脚51915，输入接口51911耦接第五电阻R5的第一端，第五电阻R5的第二端耦接电源端子511，第十三电容C13的第一端、第十四电容C14的第一端分别耦接第五电阻R5的第一端，第十三电容C13的第二端、第十四电容C14的第二端接地，BYPASS引脚51914连接第十五电容C15的第一端，第十五电容C15的第二端接地，输出接口51913用于输出内部电源，第十六电容C16的第一端耦接输出接口51913，第十六电容C16的第二端接地。第五电阻R5的阻值例如为100-150Ω，第十三电容C13的电容值例如为8-15μF，十四电容的电容值例如为80-150nF，第十五电容C15的电容值例如为5-15nF，第十六电容C16的电容值例如为0.8-3μF。
请参阅图4，检测电路513可以包括晶振端子517，传感电路51包括耦接晶振端子517的晶振电路518。晶振电路518通过晶振端子517向检测电路513输出固定的晶振频率，以使得检测电路513能够在振荡周期内向振荡电路512输出激励信号。
晶振电路518包括晶振芯片5181、第三电阻R3、第四电阻R4和第十二电容C12。晶振芯片5181包括电源引脚51811、输出引脚81822、接地引脚51833，电源引脚51811耦接内部电源和第十二电容C12的第一端，第十二电容C12的第二端接地，输出引脚81822耦接第三电阻R3的第二端，第三电阻R3的第一端连接晶振端子517和第四电阻R4的第一端，第四电阻R4的第二端接地。晶振芯片5181两端外接第三电阻R3、接地的第四电阻R4和第十二电容C12可以使晶振芯片5181获得增益以便于起振，并保证晶振电路518持续以固定频率振荡。
第十二电容C12的电容值例如为80-150nF，可选为100nF。第三电阻R3的阻值例如为0-10Ω，可选为1-5Ω。第四电阻R4的阻值例如为40-60Ω，可选为50Ω。
在晶振电路518工作后能够向检测电路513输出相应的信号，进而使得检测电路513进行工作并向振荡电路512输出激励信号。在外界导体接近电极32时，改变振荡电路512的振荡频率，进而使得检测电路513能够利用所述电极32与外界导体之间的电容或其变化检测所述电极32与外界导体之间的距离或其变化，得到表征所述电极32与外界导体之间的距离或其变化的电信号。
检测电路513检测振荡回路的电信号，电信号可以包括测量数据DATA X，测量数据DATA X正比于测量的振荡频率f s和预设参考频率f r的比值。公式表示 如下：
Figure PCTCN2019106040-appb-000013
其中，K为与检测电路513属性相关的预设系数，例如，K的取值范围为2 14～2 28。
在一种方式中，电感L和第一电容C1构成振荡回路以其固定振荡频率作为预设参考频率f r。在另一种方式中，以晶振芯片5181的晶振频率作为预设参考振荡频率f r。
本实施例中，振荡电路512数量至少为二，分别用于耦接不同的电极32，检测电路513用于检测至少两个振荡电路512的振荡频率并相应输出至少两种电信号。不同的电极32可以为不同的机械臂20，或者不同的关节，也可以位于同一机械臂20上不同的位置，同一关节上不同的位置。
本申请的检测电路513通过连接端子514耦接位于电子皮肤30上的电极32。当接近的导体靠近电极32时，电极32能够与接近的导体构成电容，当接近的导体与电极32的相对位置关系发生变化时，电容的容值也会发生变化，通过使电极32连接生成表征电容或其变化量的电信号的检测电路513，能够进一步获得电极32与导体的距离或其变化，从而使得机械设备的检测电路513能够感测到外部导体的接近，实现非接触式的距离感测。
逻辑电路板52的微处理器通过第一通信端子522接收来自传感电路51的表征电极32与外界导体之间的距离或其变化的电信号，并对电信号进行滤波处理，得到滤波后的电信号。通过对电信号进行滤波处理能够降低电路中噪声的干扰，提高电信号的精确度。
在一种实施方式中，逻辑电路板52将滤波后的电信号通过第二通信端子523输出至关节控制板53或者主控器板54，由关节控制板53的微处理器531或者主控器板54的微处理器541根据电信号计算电极32与外界导体之间的距离或其变化的数值。
在另一种实施方式中，逻辑电路板52的微处理器521通过第一通信端子522接收来自传感电路51的表征电极32与外界导体之间的距离或其变化的电信号，根据电信号计算电极32与外界导体之间的距离或其变化的数值。
无论是逻辑电路板52、关节控制板53或者主控器板54的微处理器接收到测量数据DATA X，据电信号计算电极32与外界导体之间的距离或其变化的数 值，可以通过如下方式进行计算：
根据测量数据DATA X与f s的关系：
Figure PCTCN2019106040-appb-000014
其中，CH X_FIN_SEL为检测电路所集成的芯片中的寄存器的配置值，其数值与采用的芯片有关且可以进行配置，CH X_FIN_SEL的数值可以从芯片中读取。
对于单振荡方式而言，T 1＝T 2，根据振荡频率f s计算第二电容C2，具体可以应用差分积分法进行计算：
Figure PCTCN2019106040-appb-000015
对于双振荡方式而言，据振荡频率f s计算第二电容C2，具体可以应用差分积分法进行计算：
Figure PCTCN2019106040-appb-000016
进一步地，第二电容C2的电容值。并根据下列公式计算电极32与外界导体的距离d：
Figure PCTCN2019106040-appb-000017
其中，ε为电介质常数，S为电极32与外界导体的正对面积，k为静电力常数。
由于振荡电路512数量至少为二，检测电路513用于检测至少两个振荡电路512的振荡频率并相应输出至少两种电信号。主控器板54的微处理器541获得来自传感电路51的至少两个电信号，对每个来自传感电路51的电信号进行计算，得到表征外界导体与电极32之间的距离或其变化的各个电信号。
在一些实施方式中，主控器板54的微处理器541得到表征外界导体与电极32之间的距离或其变化的各个电信号之后，从表征外界导体与电极32之间的距离或其变化的各个电信号中，确定表征外界导体与电极32之间的距离最小或其变化最大的电信号，作为表征外界导体与电极32之间的距离或其变化的电信号。例如，外界导体在接近机器人1时，机器人1上的电极A与电极B均感应到外界导体接近并分别产生表征外界导体与电极32之间的距离的电信号。机器人1可以依据电信号计算出外界导体与各个电极32之间的距离或其变化。而后选取距离最小或距离变化最大对应的电信号作为表征外界导体与机器人1之间的距 离或其变化的电信号。比如计算外界导体与电极A之间的距离大于外界导体与电极B的长度，则选取电极A对应的电信号作为表征外界导体与机器人1之间的距离的电信号。
可选的，机器人1还可以从产生的各个电信号中，确定表征外界导体与电极32之间的距离最小或其变化最大的电信号，作为表征外界导体与机器人1之间的距离或其变化的电信号。例如，外界导体在接近机器人1时，机器人1上的电极A与电极B均感应到外界导体接近并分别产生表征外界导体与电极32之间的距离的电信号。机器人1可以依据电信号计算出外界导体与各个电极32之间的距离或其变化。而后选取距离最小或距离变化最大对应的电信号作为表征外界导体与机器人1的金属框架之间的距离或其变化的电信号。比如计算外界导体与电极A之间的距离大于外界导体与感应电极B的长度，则选取电极A对应的电信号作为表征外界导体与机器人1之间的距离的电信号。
在另一些实施方式中，主控器板54的微处理器541得到表征外界导体与电极32之间的距离或其变化的各个电信号之后，还可以根据表征外界导体与电极32之间的距离或其变化的各个电信号及其对应的电极32的坐标，计算外界导体相对于机器人的坐标。
电极32的坐标例如是机器人1当前运动状态下电极32相对于机器人1整体或某些部件的坐标，比如是相对于机器人1的基座40的坐标。或者，电极32的坐标也可以是相对于机器人1的当前运动环境的空间坐标。可选的，计算得到的外界导体的坐标可以是相对于机器人1整体或某些部件的坐标。在本实施方式中，机器人1检测到外界导体接近时产生的电信号越多，根据电信号及其对应的电极32的坐标计算得到的外界导体的坐标越准确。
例如，机器人1上的电极A与电极B均感应到外界导体接近并分别产生表征外界导体与电极32之间的距离的电信号。以机器人1的基座40为中心建立坐标系，机器人1获取当前运动状态下电极A与电极B的各自坐标，根据各电极32对应的电信号及其对应的电极32的坐标，计算外界导体的坐标。
在一些实施方式中，还可以依据各个电极32的电信号的变化计算出外界导体的坐标及其变化，并基于这些坐标及其变化以及机器人1的运动预测外界导体相对于机器人1的运行轨迹，便于机器人1根据外界导体的运行轨迹采取合适的方式进行避障。
需要说明地是，每个来自传感电路51的电信号对应不同的电极32，不同的 电极32位于同一机械臂20的不同位置、位于同一关节10的不同位置、或位于不同机械臂20或关节10上。
综上所述，本申请的检测电路513通过连接端子514耦接位于电子皮肤30上的电极32。当接近的导体靠近电极32时，电极32能够与接近的导体构成电容，当接近的导体与电极32的相对位置关系发生变化时，电容的容值也会发生变化，通过使电极32连接生成表征电容或其变化量的电信号的检测电路513，能够进一步获得电极32与导体的距离或其变化，从而使得机械设备的检测电路513能够感测到外部导体的接近，实现非接触式的距离感测。
以上所述仅为本申请的实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (43)

  1. 一种装置的电子皮肤传感电路，其特征在于，包括：
    连接端子，用于耦接位于机械设备的壳体上的电极；
    检测电路，耦接所述连接端子，以利用所述电极与外界导体之间的电容或其变化检测所述电极与外界导体之间的距离或其变化，得到表征所述电极与外界导体之间的距离或其变化的电信号。
  2. 根据权利要求1所述的传感电路，其特征在于，包括：
    振荡电路，耦接所述连接端子，以用于通过所述连接端子耦接所述电极，以在外界导体靠近所述电极形成电容时改变其振荡频率；
    其中，所述检测电路具体用于耦接所述振荡电路，以检测所述振荡频率并输出表征所述振荡频率的电信号。
  3. 根据权利要求2所述的传感电路，其特征在于，
    所述振荡电路包括构成振荡回路的电感和第一电容，所述电极连接于所述第一电容的第一端，且用于与外界导体构成第二电容；
    所述检测电路用于在振荡周期内输出激励信号至所述第一电容的第一端，所述第一电容的第二端接地。
  4. 根据权利要求2所述的传感电路，其特征在于，包括：
    切换电路，耦接所述振荡电路；
    其中，所述振荡电路包括第一振荡电路和第二振荡电路，所述电极属于所述第一振荡电路或所述第二振荡电路中的一个，所述切换电路交替切换所述第一振荡电路和所述第二振荡电路。
  5. 根据权利要求4所述的传感电路，其特征在于，
    所述振荡电路包括构成振荡回路的电感和第一电容；
    所述切换电路在振荡周期的前半周期将所述电极耦接至所述第一电容的第一端，使得所述第一电容和所述电极与外界导体构成的第二电容串联，所述电感、所述第一电容以及所述电极构成所述第一振荡电路；
    所述切换电路在振荡周期的后半周期将所述电极耦接至所述第一电容的第二端，使得振荡电路不包括所述电极，所述电感、所述第一电容构成所述第二振荡电路。
  6. 根据权利要求4所述的传感电路，其特征在于，
    所述振荡电路包括构成振荡回路的电感和第一电容，所述电极连接于所述 第一电容的第一端，且用于与外界导体构成第二电容；
    所述切换电路在振荡周期的前半周期将所述检测电路输出的激励信号输出至所述第一电容的第一端，所述第一电容的第二端接地，所述电感、所述第一电容以及所述电极构成所述第一振荡电路；
    所述切换电路在振荡周期的后半周期将所述检测电路输出的激励信号输出至所述第一电容第二端，所述第一电容的第一端接地，使得振荡电路不包括所述电极，所述电感、所述第一电容构成所述第二振荡电路。
  7. 根据权利要求3、5-6任一项所述的传感电路，其特征在于，
    所述振荡电路包括第三电容和第四电容，所述第三电容是所述传感电路的接地端对大地的电容，所述第四电容是所述接地端耦接至机械设备上的电容，所述第四电容远大于所述第三电容；其中，所述第一电容的第二端接地，所述接地端耦接所述第一电容的第二端，或者所述第一电容的第一端接地，所述接地端耦接所述第一电容的第一端。
  8. 根据权利要求7所述的传感电路，其特征在于，
    所述第四电容是所述接地端耦接至机械设备上主体金属框架的电容；和/或所述第一电容的电容值为15-40pF。
  9. 根据权利要求3、5-6任一项所述的传感电路，其特征在于，
    所述振荡电路包括第五电容和第六电容，所述第五电容的第一端与所述第六电容的第一端连接，所述第五电容的第二端连接所述第一电容的第一端，所述第六电容的第二端与所述第一电容的第二端连接。
  10. 根据权利要求9所述的传感电路，其特征在于，
    所述振荡电路包括第七电容和第八电容，所述第七电容的第一端与所述第八电容的第一端连接，所述第七电容的第二端连接所述第五电容的第二端，所述第八电容的第二端与所述第六电容的第二端连接。
  11. 根据权利要求10所述的传感电路，其特征在于，
    所述振荡电路包括第一电阻和第二电阻，所述第一电阻连接于所述第七电容的第二端和所述第五电容的第二端之间，所述第二电阻连接于所述第八电容的第二端和所述第六电容的第二端之间。
  12. 根据权利要求11所述的传感电路，其特征在于，
    所述第五电容的第一端接地，所述第七电容的第一端接地。
  13. 根据权利要求12所述的传感电路，其特征在于，
    所述第五电容的电容值为10-20pF，所述第六电容的电容值为10-20pF，所述第七电容的电容值为10-20pF，所述第八电容的电容值为10-20pF，所述第一电阻的阻值为0-10Ω，所述第二电阻的阻值0-10Ω。
  14. 根据权利要求3、5-6任一项所述的传感电路，其特征在于，
    所述传感电路包括基板与设置于所述基板的通信端子、电源端子和接地端子，所述检测电路和所述振荡电路集成于所述基板上，所述检测电路耦接所述通信端子、电源端子、接地端子，所述连接端子设置于所述基板，所述振荡电路、所述检测电路共同耦接至所述连接端子。
  15. 根据权利要求14所述的传感电路，其特征在于，
    所述传感电路为FPC柔性电路板。
  16. 根据权利要求14所述的传感电路，其特征在于，
    所述通信端子用于输出所述电信号，所述电源端子用于耦接外部电源，所述连接端子耦接所述第一电容的第一端或者第二端。
  17. 根据权利要求14所述的传感电路，其特征在于，
    所述检测电路包括第一输入端子、第二输入端子和检测电源端子、检测通信端子和检测接地端子，所述第一输入端子耦接所述第一电容的第一端，第二输入端子耦接所述第一电容的第二端；所述检测电源端子耦接内部电源，所述检测通信端子耦接所述通信端子，所述检测接地端子和所述接地端子连接，所述检测通信端子为IIC通信端子。
  18. 根据权利要求17所述的传感电路，其特征在于，
    所述传感电路包括第九电容、第十电容和第十一电容，第九电容的第一端、第十电容的第一端和第十一电容的第一端相互耦接且耦接于所述检测电源端子和所述内部电源之间，第九电容的第二端、第十电容的第二端和第十一电容的第二端相互耦接且接地。
  19. 根据权利要求18所述的传感电路，其特征在于，
    所述第九电容的电容值为0.5-2μF，所述第十电容的电容值为80-150nF，所述第十一电容的电容值为8-15nF。
  20. 根据权利要求17所述的传感电路，其特征在于，
    所述检测电路包括晶振端子，所述传感电路包括耦接所述晶振端子的晶振电路，其中所述晶振电路包括晶振芯片、第三电阻、第四电阻和第十二电容，其中所述晶振芯片包括电源引脚、输出引脚、接地引脚，所述电源引脚耦接所 述内部电源和所述第十二电容的第一端，所述第十二电容的第二端接地，所述输出引脚耦接第三电阻的第二端，所述第三电阻的第一端连接所述晶振端子和所述第四电阻的第一端，所述第四电阻的第二端接地。
  21. 根据权利要求20所述的传感电路，其特征在于，
    所述第十二电容的电容值为80-150nF，所述第三电阻的阻值为0-10Ω，所述第四电阻的阻值为40-60Ω。
  22. 根据权利要求17所述的传感电路，其特征在于，
    所述传感电路包括降压电路，耦接所述电源端子，用于接收外部电源并进行降压处理并输出工作电压给所述检测电路和所述振荡电路，所述降压电路包括降压芯片、第五电阻、第十三电容、第十四电容、第十五电容和第十六电容，其中所述降压芯片包括输入接口、与地耦接的接地接口、输出接口、BYPASS引脚、开关引脚，所述输入接口耦接所述第五电阻的第一端，所述第五电阻的第二端耦接所述电源端子，所述第十三电容的第一端、所述第十四电容的第一端分别耦接所述第五电阻的第一端，所述第十三电容的第二端、所述第十四电容的第二端接地，所述BYPASS引脚连接所述第十五电容的第一端，所述第十五电容的第二端接地，所述输出接口用于输出所述内部电源，所述第十六电容的第一端耦接输出接口，所述第十六电容的第二端接地。
  23. 根据权利要求22所述的传感电路，其特征在于，
    所述第五电阻的阻值为100-150Ω，所述第十三电容的电容值为8-15μF，所述十四电容的电容值为80-150nF，所述第十五电容的电容值为5-15nF，所述第十六电容的电容值为0.8-3μF。
  24. 根据权利要求3、5-6任一项所述的传感电路，其特征在于，
    以所述电极面积的三分之一至三分之二之间的面积作为所述外界导体的面积，将所述外界导体的面积作为检测所述电信号的参数。
  25. 根据权利要求2所述的传感电路，其特征在于，
    所述电信号包括测量数据，所述测量数据正比于所述振荡频率和预设参考频率的比值。
  26. 根据权利要求1所述的传感电路，其特征在于，
    所述振荡电路数量至少为二，分别用于耦接不同的所述电极，所述检测电路用于检测至少两个所述振荡电路的所述振荡频率并相应输出至少两种所述电信号。
  27. 一种逻辑电路板，其特征在于，包括：
    微处理器、第一通信端子、第二通信端子；
    其中，所述微处理器分别耦接所述第一通信端子与第二通信端子，所述第一通信端子用于与如权利要求1-26任一项所述的传感电路耦接。
  28. 根据权利要求27所述的逻辑电路板，其特征在于，包括：
    所述微处理器用于将来自所述传感电路的所述电信号进行滤波处理，并将滤波后的所述电信号通过所述第二通信端子进行输出。
  29. 根据权利要求28所述的逻辑电路板，其特征在于，
    所述第二通信端子是RS485通信端子；和/或所述第二通信端子用于耦接所述机器人控制板。
  30. 根据权利要求27所述的逻辑电路板，其特征在于，
    所述微处理器用于处理来自所述传感电路的所述电信号以得到表征所述外界导体与所述电极之间的距离或其变化的电信号。
  31. 根据权利要求27所述的逻辑电路板，其特征在于，
    所述逻辑电路板包括第一电源端子、第二电源端子，第一电源端子耦接所述第二电源端子和所述微处理器，且用于耦接外部电源，所述第二电源端子用于与所述传感电路耦接，进而为所述传感电路供电。
  32. 一种关节控制板，其特征在于，包括：
    微处理器、电机驱动电路、第一通信端子、第二通信端子；
    其中，所述微处理器分别耦接所述电机驱动电路、所述第一通信端子、第二通信端子，所述第一通信端子用于与如权利要求27所述的逻辑电路板耦接，所述第二通信端子用于与机器人主控板连接；
    所述电机驱动电路用于驱动机器人运动。
  33. 根据权利要求32所述的关节控制板，其特征在于，包括：
    所述微处理器用于处理来自所述传感电路的所述电信号以得到表征所述外界导体与所述电极之间的距离或其变化的电信号，并发给所述电机驱动电路，以控制所述机器人避免碰撞所述外界导体或减轻碰撞程度。
  34. 根据权利要求32所述的关节控制板，其特征在于，包括：
    所述微处理器用于通过所述第一通信端子接收来自所述传感电路的所述电信号，并通过所述第二通信端子将所述电信号传至所述机器人主控板。
  35. 根据权利要求32所述的关节控制板，其特征在于，
    所述关节控制板包括第一电源端子和第二电源端子，所述第一电源端子耦接所述第二电源端子和所述微处理器，且用于耦接外部电源，所述第二电源端子用于耦接所述逻辑电路板，进而为所述逻辑电路供电。
  36. 一种机器人主控器板，其特征在于，包括
    微处理器、第一通信端子、第二通信端子；
    其中，所述微处理器分别耦接所述第一通信端子、第二通信端子，所述第一通信端子用于与如权利要求27所述的逻辑电路板或如权利要求32所述的关节控制板耦接；
    所述微处理器用于处理来自所述传感电路的所述电信号以得到表征所述外界导体与所述电极之间的距离或其变化的电信号。
  37. 根据权利要求36所述的主控器板，其特征在于，
    所述微处理器用于处理来自所述传感电路的所述电信号以得到表征所述外界导体与所述电极之间的距离或其变化的电信号具体为：
    所述微处理器获得来自所述传感电路的至少两个所述电信号，对每个来自所述传感电路的电信号进行计算，得到表征所述外界导体与所述电极之间的距离或其变化的各个电信号，从所述表征所述外界导体与所述电极之间的距离或其变化的各个所述电信号中，确定表征所述外界导体与所述电极之间的距离最小或其变化最大的所述电信号，作为表征所述外界导体与所述电极之间的距离或其变化的电信号；
    其中，每个来自所述传感电路的所述电信号对应不同的所述电极，不同的所述电极位于同一机械臂的不同位置、或位于不同机械臂上。
  38. 根据权利要求36所述的主控器板，其特征在于，
    所述微处理器用于处理来自所述传感电路的所述电信号以得到表征所述外界导体与所述电极之间的距离或其变化的电信号具体为：
    所述微处理器获得来自所述传感电路的至少两个所述电信号，对每个来自所述传感电路的电信号进行计算，得到表征所述外界导体与所述电极之间的距离或其变化的各个电信号；
    所述微处理器得到表征所述外界导体与所述电极之间的距离或其变化的电信号之后包括：
    根据所述表征所述外界导体与所述电极之间的距离或其变化的各个所述电信号及其对应的所述电极坐标，计算所述外界导体的坐标；
    其中，每个来自所述传感电路的所述电信号对应不同的所述电极，不同的所述电极位于同一机械臂的不同位置、或位于不同机械臂上。
  39. 一种机器人控制系统，其特征在于，包括如权利要求1所述的传感电路、如权利要求27所述的逻辑电路板、如权利要求32所述的关节控制板以及如权利要求36所述的机器人主控器板。
  40. 根据权利要求39所述的控制系统，其特征在于，
    所述传感电路、所述逻辑电路板、所述关节控制板和所述机器人主控器板中的两者或者两者以上集成为同一块电路板。
  41. 根据权利要求39所述的控制系统，其特征在于，
    所述逻辑电路板用于向所述传感电路发送第一询问信息；
    所述传感电路用于响应所述第一询问信息，发送包括表征所述电极与所述外界导体之间的距离或其变化的电信号在内的第一应答信息给所述逻辑控制板，以使得所述逻辑控制板对所述电信号进行处理；
    所述关节控制板用于向所述逻辑电路板发送所述第二询问信息；
    所述逻辑电路板用于响应所述第二询问信息，发送包括处理后的所述电信号在内的第二应答信息给所述关节控制板；
    所述关节控制板用于将处理后的所述电信号发送给所述机器人主控器板。
  42. 一种机器人，其特征在于，包括如权利要求39所述的机器人控制系统。
  43. 根据权利要求42所述的机器人，其特征在于，
    所述机器人包括至少一个关节、至少一个机械臂和至少一块电子皮肤，所述机械臂连接所述关节，所述机械臂包括金属支架与如权利要求35所述的机器人控制系统，所述电子皮肤包覆于所述金属支架；和/或，所述关节包括关节支架与如权利要求39所述的机器人控制系统，所述电子皮肤包覆于所述关节支架。
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