CN108908329A - A kind of flexible skin sensor and collision detecting system - Google Patents

Abstract

A kind of flexible skin sensor and collision detecting system.The flexible skin sensor includes：Two conductive layers that flexible conducting material is constituted, are dielectrically separated from net between two conductive layers；The contact when being squeezed by external force of described two conductive layers, realization conduct, and make the signal transfering circuit conducting of connection, export collision alarm.It being able to detect and collides and play buffer function, structure is simple, reliable, and use is safe, and it is low in cost, it is convenient for safeguarding.

Description

A flexible skin sensor and collision detection system

technical field

The invention relates to the technical field of collision detection, in particular to a flexible skin sensor and a collision detection system.

Background technique

With the development of robot technology, there are more and more "human-centered" robot application fields. For example, more and more robots are used in the fields of medical treatment and service robots. In the process of using robots, human safety Protection becomes the focus of attention.

A common method of safety protection is to use a laser safety scanner to divide the detection range of the laser scanner into different areas to distinguish the degree of danger of the robot to people. When a person enters a dangerous area, reduce the speed of the robot or directly stop the robot. sports. This method is costly.

Another means of safety protection is to collect the position information of the human body through the visual sensor, judge the relative position between the human and the robot, and adjust the trajectory of the robot. According to the remaining time before the collision, it is divided into short-term, medium-term, and long-term planning strategies. The reaction strategy is that the robot stays away from potential collisions; the mid-term adopts local re-planning and trajectory correction strategies to change the robot's motion and try to avoid danger; the long-term trajectory planning strategy is used to avoid any collisions.

However, due to the uncertainty of human behavior and the occurrence of unexpected situations, as well as the influence of factors such as visual blind spots and light intensity, 100% collision avoidance cannot be guaranteed.

In recent years, safe skin is a new technology for collision protection during human-robot interaction. Someone has developed a sensitive skin based on array infrared sensors, which can realize non-contact collision warning. Others have developed a sensitive skin based on an array of electronic sensors in terms of contact and collision perception, which can realize local three-dimensional force perception. In addition, there are sensitive skins based on array piezoresistive sensors, which use pressure-sensitive conductive rubber and have a high degree of flexibility.

These robot flexible anti-collision skins all use arrayed micro sensors. Due to the complicated manufacturing process, there are not many mature products. Moreover, the manufacturing of the flexible anti-collision skin of the existing robot is complicated and the cost is high. It is difficult for the array type sensitive skin sensor to adapt to the robot body on the curved surface, the service life is short, and the sensor wiring is many. Therefore, the versatility is poor, and it is not easy to maintain, and the maintenance cost is relatively high.

Contents of the invention

In view of the above problems, the present invention provides a flexible skin sensor and a collision detection system that overcome the above problems or at least partially solve the above problems.

A flexible skin sensor according to the present invention includes: two conductive layers made of flexible conductive materials, and an insulating isolation net between the two conductive layers;

When the two conductive layers are pressed by an external force, they are in contact to realize electrical conduction, so that the connected signal transmission circuit is conducted, and a collision signal is output.

In some optional embodiments, the above-mentioned flexible skin sensor further includes: a signal transmission circuit connected to the conductive layer;

When the two conductive layers are electrically connected, the signal transmission circuit is turned on and outputs a collision signal.

In some optional embodiments, the flexible conductive material is one of the following materials: conductive rubber, conductive silica gel, conductive silicone rubber, conductive plastic, conductive fiber fabric, conductive paint or transparent conductive film.

In some optional embodiments, the conductive rubber has at least one kind of conductive particles uniformly distributed in the silicone rubber: silver-plated glass, silver-plated aluminum or silver.

In some optional embodiments, the insulating and separating net is made of at least one of the following materials: mica, glass wool, asbestos, insulating fiber, rubber or plastic bonded or impregnated with insulating resin, or coated.

In some optional embodiments, the conductive layer has a thickness of 0.3-1 mm.

In some optional embodiments, the distance between the two conductive layers is 3-8mm.

In some optional embodiments, the above-mentioned flexible skin sensor further includes: at least one inner surface of the conductive layer has protruding nails.

In some optional embodiments, the length of the protruding nail is 0.1-2 mm.

A collision detection system described in the present invention includes: a flexible skin sensor, a robot and a robot controller.

The flexible skin sensor is attached to a selected position on the surface of the robot, connected to the robot controller through a signal transmission circuit, and outputs a collision signal to the robot controller when a collision is detected;

The robot controller controls the robot to emergency stop or reverse motion according to the received collision signal.

The beneficial effects of the above-mentioned technical solutions provided by the embodiments of the present invention at least include:

An insulating isolation net is set between two conductive layers made of flexible conductive materials. When squeezed by external force, the two conductive layers are in contact to realize electrical conduction, so that the connected signal transmission circuit is conducted and a collision signal is output. This kind of flexibility The structure of the skin sensor is simple and reliable, and it can be conveniently used on the robot to detect the occurrence of collision and play a buffer role when the collision occurs. This kind of flexible skin sensor is safe to use, low in cost, easy to maintain, and has strong versatility and universality. applicability.

Description of drawings

Fig. 1 is a schematic structural diagram of a flexible skin sensor in an embodiment of the present invention.

Fig. 2 is a cross-sectional view of the flexible skin sensor shown in Fig. 1 in an embodiment of the present invention.

Fig. 3 is a schematic diagram of an optional structure of the flexible skin sensor in the embodiment of the present invention.

Fig. 4 is a schematic diagram of the state of the flexible skin sensor in the embodiment of the present invention when no collision occurs.

Fig. 5 is a schematic diagram of the state when the flexible skin sensor collides in the embodiment of the present invention.

FIG. 6 is a schematic structural diagram of a collision detection system in an embodiment of the present invention.

In the figure, 1 is a conductive layer, 2 is an insulating isolation net, 3 is a convex nail, and 4 is a signal transmission circuit.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

In practical applications, the robot body usually does not come into contact with the human body/external environment. Once contacted, the robot needs to be stopped. Therefore, for the anti-collision skin, it is only necessary to be able to detect the presence or absence of collisions, and it is not necessary to obtain the location and collision of collisions. Force size. Based on this, in order to solve the problems existing in the prior art that the array sensor used for collision detection is complex in manufacturing process, high in cost, short in life, poor in versatility, and inconvenient to maintain, an embodiment of the present invention provides a sensor for collision detection The flexible skin sensor can effectively detect collisions during human-robot interaction, and has a simple structure, easy fabrication, low cost, and strong versatility.

The structure of the flexible skin sensor provided by the embodiment of the present invention is shown in Figure 1, wherein Figure 2 is a cross-sectional view of A-A in Figure 1, including:

Two conductive layers 1 made of flexible conductive materials, and an insulating isolation net 2 located between the two conductive layers 1, the two conductive layers 1 contact when squeezed by external force to achieve electrical conduction and make the connected signal transmission circuit conduction , output a collision signal.

Optionally, as shown in FIG. 3 , the above-mentioned flexible skin sensor further includes: a signal transmission circuit 4 connected to the conductive layer 1 , and when the two conductive layers 1 are electrically connected, the signal transmission circuit 4 conducts and outputs a collision signal.

A signal transmission circuit 4 may be connected to one of the conductive layers 1, or both conductive layers 1 may be connected to a signal transmission circuit 4. In practical applications, the signal transmission circuit 4 connected to one of the conductive layers 1 may be used as required. . When one conductive layer 1 is connected to the signal transmission circuit 4 , the signal transmission circuit is externally connected to a specified voltage, such as +5V, and the other conductive layer 1 can be grounded.

Optionally, referring to FIG. 1 and FIG. 2 , in the above-mentioned flexible skin sensor, at least one inner surface of the conductive layer 1 is provided with protruding nails 3 .

The above-mentioned flexible skin sensor for collision detection adopts a sandwich structure. The flexible skin sensor includes upper and lower conductive layers 1, an insulating isolation net 2, and signal transmission lines 4. The function of the convex nail 3 is to prevent the resistance of the isolation net from being too large, so that when a collision occurs, the upper and lower conductive layers 1 are hindered from contacting, the signal transmission circuit 4 is connected to the upper or lower conductive layer 1, and the other conductive layer is grounded.

The flexible skin sensor for collision detection adopts a sandwich structure in which the conductive layer sandwiches the isolation net. The state when no collision occurs is shown in FIG. 4 , and the state after collision is shown in FIG. 5 . When no external force squeezes, the two conductive layers are in an isolated state, as shown in Figure 4, the two conductive layers are completely separated without contact; when squeezed by external contact, the conductive layers on both sides pass through the void of the isolation net Contact, as shown in Figure 5, the conductive layer on one side is depressed by the collision and contacts with the conductive layer on the other side, thus forming the switching value of on and off in the circuit, which can be used for emergency response of the robot when contact occurs. Stop or reverse the motion of the robot.

In order to prevent the resistance of the isolation net 2 from being too large, causing the contact between the upper and lower conductive layers 1 when a collision occurs, protruding nails 3 are made on the conductive layer 1, thereby improving the reliability and sensitivity of the sensor for collision detection. The flexible skin sensor has the advantages of simple structure, reliability, easy maintenance, safe use, low cost, and a certain impact buffering effect, which solves a major problem in human-robot collision detection.

Optionally, the flexible conductive material is one of the following materials: conductive rubber, conductive silica gel, conductive silicone rubber, conductive plastic, conductive fiber fabric, conductive paint and transparent conductive film.

Wherein, the conductive rubber is uniformly distributed in the silicone rubber with at least one kind of conductive particles: silver-plated glass, silver-plated aluminum, silver. Conductive particles such as glass silver-plated, aluminum silver-plated, and silver are evenly distributed in the silicone rubber, and the conductive particles are contacted by pressure to achieve good electrical conductivity.

Optionally, the thickness of the conductive layer 1 is 0.3-1 mm. Preferably, the thickness of the conductive layer 1 is 0.4-0.8 mm, for example, a thickness of 0.5 mm can be selected.

Optionally, the distance between the two conductive layers 1 is 3-8 mm. Preferably, the distance between the two conductive layers 1 is 4-6 mm.

The distance between two conductive layers 1 can be defined as the distance between the inner surfaces of the two conductive layers, and can also be defined as the distance between the outer surfaces of the two conductive layers. For example: during manufacture, the distance between the inner surfaces of the two conductive layers 1 is 4 mm, and the distance between the outer surfaces of the two conductive layers 1 is 5 mm.

Optionally, the insulating and separating net 2 is made of at least one of the following materials: mica, glass wool, asbestos, insulating fiber, rubber and plastic bonded or impregnated with insulating resin, or coated. Mica, glass wool, and asbestos can be insulated after being bonded or impregnated with insulating resin, and coated. Insulating fibers, rubber and plastics can also play an insulating role.

Optionally, the length of the convex nail is 0.1-2mm, and the diameter of the convex nail is 0.1-2mm. Preferably, the length of the convex nail is 0.5-1.5mm, and the diameter of the convex nail is 0.5-1.5mm. For example, the length of the convex nail is designed to be 1mm, and the diameter is 1mm.

Optionally, the flexible skin sensor can be designed in various shapes such as rectangle, square, circle, ellipse, polygon, etc., and its size can be designed in different sizes according to the needs, for example, different sizes can be selected according to the size of the robot and the position to be pasted flexible skin sensors. For example: taking a rectangle as an example, its overall size can be 150mm*300mm, or it can be designed as 150mm*200mm, or any other size.

Based on the same inventive concept, an embodiment of the present invention also provides a collision detection system, as shown in FIG. 6 , including: a flexible skin sensor, a robot (not shown in FIG. 6 ) and a robot controller.

The flexible skin sensor is attached to a selected position on the surface of the robot, connected to the robot controller through a signal transmission circuit, and outputs a collision signal to the robot controller when a collision is detected;

The robot controller controls the robot to emergency stop or reverse motion according to the received collision signal.

Optionally, the robot controller is further configured to determine the position where the robot collides according to the attached position of the flexible skin sensor that sends the collision signal.

Regarding the above embodiments, a simple and reliable flexible skin sensor for collision detection is provided. The flexible skin sensor is installed on a robot to form a collision detection system, which can effectively detect collisions during human-robot interaction. That is to say, the isolation of the above-mentioned flexible skin sensor when there is no extrusion and the contact when there is extrusion are combined with the signal transmission circuit to form the switch value of on and off in the circuit. This signal is connected with the robot controller to control the contact. An emergency stop of the robot or its reverse motion occurs.

During the application process, the above-mentioned flexible skin sensor can be attached to the surface of the robot, and because it uses a flexible conductive layer, it can adapt to the curved surface robot. In addition, the conductive layer of the flexible material has a certain collision buffer function, which further improves the safety during the human-robot collision detection process. The sensor has a good application prospect because of its simple structure, reliability, easy maintenance, safe use, and low cost.

The above-mentioned flexible skin sensor, with its simple structure, convenient manufacture, and low cost, satisfies the requirement that it only needs to be able to detect the presence or absence of a collision in practical applications, without obtaining the location of the collision and the magnitude of the collision force.

Unless specifically stated otherwise, terms such as processing, computing, computing, determining, displaying, etc. may refer to an action and/or process of one or more processing or computing systems, or similar devices, which will be represented as Data manipulation and conversion of physical (eg, electronic) quantities within a processing system's registers or memory into other data similarly represented as physical quantities within a processing system's memory, registers, or other such information storage, transmission, or display devices. Information and signals can be represented using any of a number of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips referred to throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

It is understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not meant to be limited to the specific order or hierarchy described.

In the foregoing Detailed Description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, the invention lies in less than all features of a single disclosed embodiment. Thus the following claims are hereby expressly incorporated into the Detailed Description, with each claim standing on its own as a separate preferred embodiment of this invention.

Those skilled in the art should also understand that various illustrative logical blocks, modules, circuits and algorithm steps described in conjunction with the embodiments herein may be implemented as electronic hardware, computer software or a combination thereof. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

The steps of the method or algorithm described in conjunction with the embodiments herein may be directly embodied as hardware, a software module executed by a processor, or a combination thereof. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be a component of the processor. The processor and storage medium can be located in the ASIC. The ASIC may be located in the user terminal. Of course, the processor and the storage medium may also exist in the user terminal as discrete components.

For a software implementation, the techniques described in this application can be implemented with modules (eg, procedures, functions, and so on) that perform the functions described herein. These software codes can be stored in memory units and executed by processors. The memory unit can be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.

The foregoing description includes illustrations of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods to describe the above-mentioned embodiments, but those skilled in the art should recognize that various embodiments can be further combined and permuted. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "comprises" is used in the specification or claims, the word is encompassed in a manner similar to the term "comprises" as interpreted when "comprises" is used as a link in the claims. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".

Claims (10)

1. a kind of flexible skin sensor, which is characterized in that including：Two conductive layers that flexible conducting material is constituted are located at two Net is dielectrically separated between a conductive layer；

The contact when being squeezed by external force of described two conductive layers, realization conduct, and make the signal transfering circuit conducting of connection, defeated Collision alarm out.

2. flexible skin sensor as described in claim 1, which is characterized in that further include：The letter being connect with the conductive layer Number transfer circuit；

When described two conductive layer realizations conduct, the signal transfering circuit conducting exports collision alarm.

3. flexible skin sensor as described in claim 1, which is characterized in that the flexible conducting material is in llowing group of materials One kind：Conductive rubber, electric silica gel, conductive silicon rubber, conductive plastics, conductive fibers, conductive coating or electrically conducting transparent Film.

4. flexible skin sensor as claimed in claim 3, which is characterized in that the conductive rubber is uniform in silicon rubber At least one conductive particle is distributed with：Glass silvering, aluminium are silver-plated or silver-colored.

5. flexible skin sensor as claimed in claim 4, which is characterized in that the net that is dielectrically separated from is using in llowing group of materials At least one：It bonds or impregnates by insulating resin, the mica after coating, glass fiber, asbestos, non-conductive fibre, the modeling of rubber function Material.

6. flexible skin sensor as described in claim 1, which is characterized in that the conductive layer with a thickness of 0.3-1mm.

7. flexible skin sensor as described in claim 1, which is characterized in that the distance between described two conductive layers are 3- 8mm。

8. flexible skin sensor as claimed in claim 1, which is characterized in that further include：It is led described at least one Electric layer inner surface has stud.

9. flexible skin sensor as claimed in claim 8, which is characterized in that the length of the stud is 0.1-2mm.

10. a kind of collision detecting system, which is characterized in that including：Flexible skin sensor, robot and robot controller；

The flexible skin sensor is attached at the selected location of robotic surface, passes through signal transfering circuit and robot control Device connection processed exports collision alarm to robot controller when detecting that collision occurs；

Robot controller controls robot emergent stopping or counter motion according to the collision alarm received.