Dual-mode sensing unit and dual-mode sensor

Abstract

The invention discloses a dual-mode sensing unit and a dual-mode sensor. The dual-mode sensing unit comprises a shielding layer, a piezoelectric conducting layer, a capacitance sensing layer, and a flexible bulging layer; the shielding layer is fixedly connected with the piezoelectric conducting layer, and the shielding layer is grounded; the piezoelectric conducting layer comprises a conductive electrode and a piezoresistance sensitive layer; a raised micro-structure is arranged at the piezoresistance sensitive layer; the capacitance sensing layer comprises a first flexible substrate, an emitting electrode and a receiving electrode; the emitting electrode and the receiving electrode are fixed at a bottom face of the first flexible substrate, the emitting electrode and the receiving electrode are arranged at an upper layer and a lower layer, and the emitting electrode and the raised micro-structure are in conductive connection; the flexible bulge layer is fixedly connected with the first flexible substrate, and a stress collection bulge is arranged on an upper end surface of the flexible bulge layer. The dual-mode sensing unit possesses the proximity sense and touch sensing functions at the same time; the dual-mode sensor is formed by arranging multiple dual-mode sensing unit matrixes, and multiple dual-mode sensing unit matrixes are connected through a flexible substrate; and the dual-mode sensing unit has good flexibility, and the internal circuit is concise.

Description

technical field [0001] The invention belongs to the technical field of robot sensing, and in particular relates to a dual-mode sensing unit and a dual-mode sensor. Background technique [0002] The existing collaborative robot sensing systems basically include visual and tactile sensors. The tactile sensing system mainly provides stress and distribution information under contact conditions, and the visual sensing system mainly provides orientation capture and object distance information. However, on the one hand, an additional 3D camera device is required, which not only increases the cost, but also requires high processing data bandwidth and vision algorithms; It is easy to be blocked by the robot arm and cannot effectively capture distance information. At the same time, the robot arm is still not in contact with the object, and the tactile sensor cannot normally obtain object information, which is the "blind spot" of the sensing system. Therefore, while the robot electron...

AI Technical Summary

Problems solved by technology

However, in the contact mode, there are problems such as low sensitivity and narrow detection range.

[0005] Therefore, a new technology is needed to solve the problems of complex circuits, low measurement accuracy, low sensitivity and narrow detection range of proximity and touch in the prior art

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