A coupled sensing method and sensing system for power identification and stiffness screening
A sensing method and sensing system technology, applied in the field of power identification and stiffness screening sensing, can solve the problem of not finding a composite sensor
Active Publication Date: 2021-02-26
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
At present, no composite sensor has been found to satisfy the sensing of these two characteristics of objects at the same time.
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[0046] The present invention will be further elaborated below through specific embodiments in conjunction with the accompanying drawings.
[0047] Such as figure 1As shown, the coupled sensor system of the present invention for electric quantity identification and stiffness screening of the present embodiment includes: a coupling identification probe, a voltage follower circuit, a low-pass filter circuit, an operational amplifier circuit, a microprocessor, a voltage comparison circuit and a display device ; The coupling identification probe, the voltage follower circuit, the low-pass filter circuit, the operational amplifier circuit, the microprocessor and the display device are sequentially connected, and the microprocessor is also connected to the voltage comparison circuit.
[0048] Such as figure 2 As shown in (a), the coupling identification probe includes a front electrode 1, a rear electrode 2, a piezoelectric electret film 3 and a resistor R; Deformation; the rear e...
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Abstract
The invention discloses a coupled sensing method for electric quantity identification and stiffness screening and a sensing system thereof. The present invention utilizes electrostatic induction and the near-field effect of piezoelectric electret to improve the sensitivity of charging quantity recognition or stiffness judgment through single-layer or double-layer piezoelectric electret films; the front-end electrode is a spherical vault structure with a fixed threshold stiffness, If the stiffness of the target object is greater than the threshold stiffness of the front-end electrode, the front-end electrode will buckle nonlinearly and generate a high-pulse narrow deformation electrical signal; therefore, there is no need to measure the contact force and object deformation, and the stiffness of the object can be directly screened; in a Structurally, the charge measurement of the target and the discrimination of the threshold stiffness can be realized at the same time; further, by arranging the front-end electrodes with different rigidities in an array, the object charge distribution can be recognized and the rigidity range of the object can be determined with higher precision; the present invention has Features such as high sensitivity, coupling recognition, stiffness screening, arraying, high integration, and small size.
Description
technical field [0001] The invention relates to electric quantity identification and stiffness screening sensing technology, in particular to a coupled sensing system for electric quantity identification and stiffness screening and a sensing method thereof. Background technique [0002] Robotic intelligent manipulators need to wear advanced micro-sensors to better complete fine-grained tasks, including: object recognition, grasping and other operations. In the above tasks, tactile sensors are usually equipped to detect the temperature, shape, surface roughness, surface humidity, electrification characteristics, and stiffness of objects. [0003] The space environment is filled with a large number of charged meteoroids, and its surface voltage can reach up to several thousand volts. It is easy to generate discharge and damage circuit equipment when it comes into contact with equipment. Therefore, it is necessary to judge the charge of the target object in advance before the m...
Claims
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IPC IPC(8): G01R29/24G01B7/16B25J9/16
CPCB25J9/16B25J9/1602B25J9/1694G01B7/18G01R29/24
Inventor 冯跃周子隆韩炎晖胡佳辰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY