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A Sensing Device for Safe Human-Robot Interaction

A technology for sensing devices and robots, which can be applied to safety devices, two-dimensional position/channel control, instruments, etc., and can solve the problems of multi-tactile dimensional information and difficult to obtain.

Active Publication Date: 2020-09-01
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This two-dimensional structure is difficult to obtain more tactile dimensional information

Method used

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  • A Sensing Device for Safe Human-Robot Interaction
  • A Sensing Device for Safe Human-Robot Interaction
  • A Sensing Device for Safe Human-Robot Interaction

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Experimental program
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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] Such as figure 1 As shown, the specific implementation of the present invention includes a flexible tactile sensing array mainly composed of a flexible substrate 1, a lower electrode array 2, a flexible sensing layer 3, an upper electrode array 4, and a surface layer 6, which are closely laminated and bonded sequentially from bottom to top.

[0032] In the flexible tactile sensing array, the upper surface of the surface layer 6 is fixedly arranged with an ultrasonic sensor 7, a first type of hair receptor 8 and a second type of hair receptor 9, forming an array of the first type of hair receptor 8 and an array of the second type of hair receptor 9 , an array of ultrasonic sensors 7, the ultrasonic sensors 7, the first type of hair receptors 8 and the second type of hair receptors 9 are arrayed on the upper surface of the surface layer 6 in a staggered and evenly...

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Abstract

The invention discloses a sensor device for safe human-robot interaction. The sensor device is mainly composed of a flexible tactile sensor array formed by successive and compact lamination and bonding of a flexible substrate, a lower electrode array, a flexible sensing layer, an upper electrode array and a surface layer from bottom to top. In the flexible tactile sensor array, ultrasonic sensors,first type of hair sensors and second type of hair sensors are fixedly arranged on the upper surface of the surface layer, wherein the ultrasonic sensors, the first type of hair sensors and the second type of hair sensors are arranged on the upper surface of the surface layer uniformly at intervals in a staggered manner; and leads are led out from all sensors and pass through the inside of the surface layer. According to the invention, with various sensors, the relative positions of the dangerous regions of the human being and the robot are detected precisely and the operation speed of the robot is fed back and controlled timely; and because of the hairs, the reaction time of the human being is extended, so the safety of human-robot interaction is enhanced.

Description

technical field [0001] The invention relates to a sensing device, in particular to a sensing device for safe interaction between human and robot. Background technique [0002] At present, service robots, as the most practical and closest to people's lives, are gradually entering daily production and life, and have an increasingly important impact on the development of human society. [0003] In the process of human-service robot interaction, safety has become one of the most basic and important links in all links. In terms of strategies to improve robot safety, there are mainly preventive active control, joint compliance design and methods of wrapping connecting rods with viscoelastic materials. [0004] In terms of preventive and active control in advance, photoelectric sensors, ultrasonic sensors or capacitive sensors are currently installed on the robot, which is used to implement a safety control strategy that deviates from the original trajectory once a person is detec...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G05D1/00G05D13/62B25J9/16B25J19/02
CPCB25J9/16B25J19/02G05D1/0055G05D1/0088G05D1/021G05D1/0255G05D13/62
Inventor 杨赓庞高阳林清泉
Owner ZHEJIANG UNIV
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