CN111248860A - Touch sensing system and touch sensing method for capsule robot - Google Patents

Abstract

Provided are a haptic sensing system and a haptic sensing method for a capsule robot, including a plurality of haptic sensing units. The haptic sensing system includes a processor and a capsule robot; the plurality of tactile sensing units are encapsulated on a plurality of preset tactile sensing areas on the capsule robot; the plurality of touch sensing units are used for sensing external signals; the processor is used for receiving the signals transmitted by the capsule robot and sensed by the touch sensing unit and processing the sensed signals to obtain a detection result. According to the invention, the three-dimensional touch sensing system is constructed by encapsulating the touch sensing unit on the surface of the capsule robot, so that each surface of the capsule robot has temperature and pressure sensing capabilities, and the intelligentization and man-machine interaction level of the capsule robot is improved.

Description

A tactile sensing system and tactile sensing method for capsule robot

technical field

The invention relates to the field of electronic skin, in particular to a tactile sensing system and a tactile sensing method for a capsule robot.

Background technique

Although electronic skin research has made great progress in recent years, there are still many problems such as insufficient response sensitivity, poor stability and anti-interference ability, and narrow sensing range of sensing materials, which limit its practical application. Among the numerous electronic skin researches, for example, the patent "Flexible Biomimetic Electronic Skin and Its Preparation Method" applied by Feng Xue et al. of Tsinghua University, the publication number is CN 108896219 A, provides a flexible biomimetic electronic skin and its preparation method. The flexible bionic electronic skin includes: a piezoresistive layer; a thin film electrode; the manufacturing cost is relatively high and the process is relatively complicated, and it is difficult to apply to actual scenarios. Especially for sensing relatively small or internal environments, there is currently no related tactile sensing system for micro-miniature robots.

Therefore, there is a need for a tactile sensing system capable of sensing multi-directional, multi-dimensional, and micro-environment.

SUMMARY OF THE INVENTION

In order to solve at least the above-mentioned technical problems, various solutions of the present invention as described below have been proposed.

According to a first aspect of the present invention, a tactile sensing system for a capsule robot is provided, comprising a plurality of tactile sensing units, wherein the tactile sensing system includes:

Processors and capsule robots;

The plurality of tactile sensing units are packaged on a plurality of preset tactile sensing areas on the capsule robot;

the plurality of tactile sensing units for sensing external signals; and

The processor is configured to receive the signal transmitted by the capsule robot and sensed by the tactile sensing unit, and process the sensed signal to obtain a detection result.

The sensing system of the present invention mainly constructs a three-dimensional tactile sensing system by encapsulating the tactile sensing unit on the surface of the capsule robot. The level of intelligence and human-computer interaction.

In one embodiment, the plurality of tactile sensing units in the form of a three-dimensional array are respectively packaged on the first preset tactile sensing area and the second preset tactile sensing area of the capsule robot, wherein the first preset tactile sensing unit is in the form of a three-dimensional array. It is assumed that the tactile sensing area includes the end area of the capsule robot, and the second preset tactile sensing area includes the waist area of the capsule robot.

The tactile sensing system constructed as a three-dimensional array in the present invention can enable each surface of the capsule robot to have temperature and pressure sensing capabilities, and improve the intelligence of the capsule robot and the level of human-computer interaction.

In any of the above embodiments, the tactile sensing unit includes: a pressure sensing unit and a temperature sensing unit, and the signal sensed by the tactile sensing unit includes at least one of the following: a temperature change signal, a pressure-generated signal Deformation signal.

In any of the above embodiments, a control chip is provided on the capsule robot, and the processor is used for sending the detection result to the control chip; and the control chip is used for controlling the control chip according to the detection result. The capsule robot performs the corresponding operations.

The three-dimensional array tactile sensing system constructed by the present invention can input the deformation signal and temperature change signal generated by pressure to the control chip through the integrated circuit, and control the capsule robot through the control chip, so that each surface of the capsule robot has the ability to sense temperature and pressure, Improve the intelligence of capsule robots and the level of human-computer interaction.

In any of the above embodiments, the electrode wires connected to the plurality of tactile sensing units extend from one end of the capsule robot and are connected to the processor.

According to a second aspect of the present invention, there is provided a tactile sensing method for a capsule robot, the tactile sensing method comprising:

encapsulating multiple tactile sensing units on multiple preset tactile sensing areas on the capsule robot;

The plurality of tactile sensing units sense external signals, and the capsule robot transmits the signals sensed by the tactile sensing units to a processor; and

The processor processes the sensed signal to obtain a detection result.

In the present invention, by encapsulating multiple tactile sensing units on multiple preset tactile sensing areas on the capsule robot, each surface of the capsule robot can have temperature and pressure sensing capabilities, thereby improving the intelligence and performance of the capsule robot. level of human-computer interaction.

In one embodiment, the plurality of tactile sensing units in the form of a three-dimensional array are respectively packaged on a first preset tactile sensing area and a second preset tactile sensing area of the capsule robot, wherein the first preset tactile sensing area is It is assumed that the tactile sensing area includes the end area of the capsule robot, and the second preset tactile sensing area includes the waist area of the capsule robot.

In any of the above embodiments, the tactile sensing unit includes: a pressure sensing unit and a temperature sensing unit, and the signal sensed by the tactile sensing unit includes at least one of the following: a temperature change signal, a pressure-generated signal Deformation signal.

In any of the above embodiments, the tactile sensing method further includes: the processor sending the detection result to the control chip on the capsule robot; and the control chip controls the detection result according to the detection result The capsule robot performs corresponding operations.

In any of the above embodiments, the electrode wires connected to the plurality of tactile sensing units are extended from one end of the capsule robot to be connected to the processor.

Through the tactile sensing system and tactile sensing method of the present invention, multiple tactile sensing units are encapsulated on the surface of the capsule robot, so that each surface of the capsule robot has temperature and pressure sensing capabilities, and the intelligence of the capsule robot and the human level of computer interaction.

Description of drawings

Non-limiting and non-exhaustive embodiments of the present invention are described by way of example with reference to the following figures, wherein:

1 shows a schematic diagram of a preferred embodiment of a tactile sensing system for a capsule robot according to the present invention;

2(a)-(b) are schematic diagrams showing a preferred embodiment of the packaging of multiple tactile sensing units of the tactile sensing system for a capsule robot according to the present invention;

FIG. 3 shows a schematic diagram of another embodiment of a tactile sensing system for a capsule robot according to the present invention;

FIG. 4 shows a flow chart of a preferred embodiment of a tactile sensing method for a capsule robot according to the present invention.

Detailed ways

In order to make the above and other features and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings. It should be understood that the specific embodiments presented herein are for the purpose of explaining to those skilled in the art, and are merely illustrative and not restrictive.

FIG. 1 shows a schematic diagram of a tactile sensing system for a capsule robot according to an embodiment of the present invention.

As shown in FIG. 1 , the tactile sensing system 100 includes: a plurality of tactile sensing units 130 ; a processor 120 and a capsule robot 110 ; a plurality of tactile sensing units 130 packaged on the capsule robot 110 On the preset tactile sensing area, the plurality of tactile sensing units 130 include a pressure sensing unit 131 and a temperature sensing unit 132 . The plurality of tactile sensing units 130 may adopt sensors in an array, for example, a 3×3 array. The plurality of tactile sensing units 130 may be used to sense external signals; and the processor 120 may be used to receive signals transmitted by the capsule robot 110 and sensed by the tactile sensing units 130, And the sensed signal is processed to obtain a detection result.

Specifically, the multiple preset tactile sensing areas on the capsule robot 110 in this embodiment can also encapsulate multiple flexible electronic skins.

The tactile sensing system of the present invention adopts a plurality of tactile sensing units, so that the signals generated by the outside world (such as deformation signals generated by pressure, temperature change signals, etc.) are sensed through the tactile sensing units; The sensed signal is processed, or the sensed signal integrated circuit can be input to the control chip. The control chip can make the capsule robot have temperature and pressure sensing capabilities in every place, and improve the intelligence of the capsule robot and the level of human-computer interaction.

2(a)-(b) illustrate schematic diagrams of a plurality of tactile sensing unit packages according to an embodiment of the present invention.

As shown in FIG. 2( a ), the first preset tactile sensing area A is packaged with a plurality of tactile sensing units in the form of a three-dimensional array, and the second preset tactile sensing area B is packaged with a three-dimensional array of tactile sensing units. A plurality of tactile sensing units, and a plurality of tactile sensing units in the form of a three-dimensional array are packaged on the third preset tactile sensing area C.

Specifically, a 14-array structure is used in this embodiment, and other arrays can of course be designed as required. The overall length of the capsule robot 110 used in this embodiment is about 18 mm. As shown in Figures 2(a) and (b), a plurality of tactile sensing units 1-5 of the array are arranged in the first preset tactile sensing area A; tactile sensing units 6-9; the third preset tactile sensing area C arranges a plurality of tactile sensing units 10-14 in the array.

Of course, the performance of the tactile sensing unit determines the array structure used, and a 16-array structure can also be used. In the embodiment of the present invention, a plurality of tactile sensing units adopt the preparation principle of resistive method, and are prepared by composite materials such as PDMS and graphene. The above materials have the advantages of high flexibility, strong stretchability, and strong electrical conductivity. .

In one embodiment, a control chip is provided on the capsule robot 110, and the processor 120 is used for sending the detection result to the control chip; and the control chip is used for controlling according to the detection result The capsule robot 110 performs corresponding operations.

In this embodiment, the capsule robot 110 may be a colon inspection robot, N2 tactile sensing units 130 (ie, array tactile sensors) are arranged on the outer surface of the colon inspection robot, and the tactile sensing units are packaged on the surface of the colon inspection robot to construct A tactile sensing system for colon examination in three-dimensional arrays. During the detection and inspection operation, the deformation signal and temperature change signal generated by the pressure are input to the control chip through the integrated circuit, and the colon inspection robot is controlled by the control chip, so that each surface of the colon inspection robot has the ability to sense temperature and pressure, improving the The intelligence of colon examination robots and the level of human-computer interaction.

Figure 3 shows a schematic diagram of another sensing system according to an embodiment of the present invention.

In one embodiment, as shown in FIG. 3 , the electrode wires connected to the plurality of tactile sensing units 130 protrude from one end of the capsule robot 110 and are connected to the processor.

FIG. 4 shows a flowchart of a tactile sensing method for a capsule robot according to an embodiment of the present invention.

As shown in FIG. 4 , the tactile sensing method S100 includes:

Step S110, encapsulating multiple tactile sensing units on multiple preset tactile sensing areas on the capsule robot;

Step S120, the plurality of tactile sensing units sense external signals, and the capsule robot transmits the signals sensed by the tactile sensing units to the processor; and

Step S130, the processor processes the sensed signal to obtain a detection result.

In the tactile sensing method of the present invention, a tactile sensing unit senses a signal generated by the outside world (for example, a deformation signal generated by pressure, a temperature change signal, etc.); the sensed signal is processed by a processor, or the sensed signal can be The measured signal integrated circuit is input to the control chip, and the capsule robot is controlled by the control chip, so that the capsule robot has the ability to sense temperature and pressure everywhere, and the intelligence of the capsule robot and the level of human-computer interaction are improved.

In one embodiment, the plurality of tactile sensing units in the form of a three-dimensional array are respectively packaged on the first preset tactile sensing area and the second preset tactile sensing area of the capsule robot, wherein the first preset tactile sensing area is The preset tactile sensing area includes the end area of the capsule robot, and the second preset tactile sensing area includes the waist area of the capsule robot.

In one embodiment, the tactile sensing unit includes: a pressure sensing unit and a temperature sensing unit, and the signal sensed by the tactile sensing unit includes at least one of the following: a temperature change signal, a deformation signal generated by pressure .

In one embodiment, the tactile sensing method further comprises:

The processor sends the detection result to the control chip on the capsule robot; and the control chip controls the capsule robot to perform corresponding operations according to the detection result.

In one embodiment, electrode wires connected to the plurality of tactile sensing units are extended from one end of the capsule robot to be connected to the processor.

Those skilled in the art can understand that all or part of the steps in the method according to the above embodiments of the present invention can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer In the read storage medium, the computer program, when executed, can implement the steps of the embodiments of the above-described methods. Wherein, any reference to a memory, storage, database or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory.

The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above embodiments have not been described. However, as long as there is no contradiction in the combination of these technical features, all It is considered to be the range described in this specification.

While the invention has been described in conjunction with the embodiments, those skilled in the art will understand that the foregoing description and drawings are by way of illustration and not limitation, and the invention is not limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the present invention.

Claims (10)

1. A tactile sensing system for a capsule robot, comprising a plurality of tactile sensing units, wherein the tactile sensing system comprises: Processors and capsule robots; The plurality of tactile sensing units are packaged on a plurality of preset tactile sensing areas on the capsule robot; the plurality of tactile sensing units for sensing external signals; and The processor is configured to receive the signal transmitted by the capsule robot and sensed by the tactile sensing unit, and process the sensed signal to obtain a detection result. 2 . The tactile sensing system according to claim 1 , wherein the first preset tactile sensing area and the second preset tactile sensing area of the capsule robot are respectively packaged with the multi-dimensional arrays in the form of three-dimensional arrays. 3 . A tactile sensing unit, wherein the first preset tactile sensing area includes the end area of the capsule robot, and the second preset tactile sensing area includes the waist area of the capsule robot. 3 . The tactile sensing system according to claim 1 , wherein the tactile sensing unit comprises: a pressure sensing unit and a temperature sensing unit, and the signal sensed by the tactile sensing unit comprises the following: 3 . At least one: temperature change signal, deformation signal generated by pressure. 4 . The tactile sensing system according to claim 1 , wherein a control chip is provided on the capsule robot, and the processor is configured to send the detection result to the control chip; and the control The chip is used to control the capsule robot to perform corresponding operations according to the detection result. 5. The tactile sensing system according to any one of claims 1-4, wherein the electrode wires connected to the plurality of tactile sensing units protrude from one end of the capsule robot, and are connected with the processor connection. 6. A tactile sensing method for a capsule robot, wherein the sensing method comprises: encapsulating multiple tactile sensing units on multiple preset tactile sensing areas on the capsule robot; The plurality of tactile sensing units sense external signals, and the capsule robot transmits the signals sensed by the tactile sensing units to a processor; and The processor processes the sensed signal to obtain a detection result. 7 . The tactile sensing method according to claim 6 , wherein the plurality of tactile sensing units in the form of a three-dimensional array are respectively packaged in a first preset tactile sensing area and a second preset tactile sensing area of the capsule robot. 8 . Assuming a tactile sensing area, wherein the first preset tactile sensing area includes the end area of the capsule robot, and the second preset tactile sensing area includes the waist area of the capsule robot. 8 . The tactile sensing method according to claim 6 , wherein the tactile sensing unit comprises: a pressure sensing unit and a temperature sensing unit, and the signal sensed by the tactile sensing unit comprises the following: 8 . At least one: temperature change signal, deformation signal generated by pressure. 9. The tactile sensing system according to claim 6, wherein the tactile sensing method further comprises: The processor sends the detection result to the control chip on the capsule robot; and the control chip controls the capsule robot to perform corresponding operations according to the detection result. 10. The tactile sensing system according to any one of claims 6-9, wherein the electrode wires connected to the plurality of tactile sensing units are extended from one end of the capsule robot so as to be connected with all the tactile sensing units. the processor connection described above.

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