Sensing glove preparation method and control system based on flexible yarn sensor

Abstract

The invention discloses a sensing glove preparation method based on a flexible yarn sensor and a control system, and belongs to the field of flexible sensor preparation and application, the method comprises the following steps: preparing a first conductive solution based on a carbon material, and preparing a second conductive solution based on a high-molecular conductive polymer; dipping the yarns in a first conductive solution, taking out, and drying with hot air to obtain conductive yarns; dipping the conductive yarn in a second conductive solution, taking out the conductive yarn, and drying the conductive yarn by hot air to obtain the conductive yarn with a protective coating; electrodes are led out of the two ends of the conductive yarn with the protective coating through wires, and the flexible yarn sensor is obtained. Based on the flexible yarn sensor, the flexible wearable sensing glove is knitted through the knitting technology. The invention has the characteristics of low modulus, high flexibility, wide strain detection range and high stability, can capture finger bending and hand action in real time, and realizes the transmission of gesture signals and the control of the unmanned fire extinguishing vehicle.

Description

Technical Field

[0001] The present invention relates to the preparation and application fields of flexible sensors, in particular to the application of flexible sensors in human-computer interaction at fire scenes. Background Art

[0002] Internal rescue at the fire scene is very important, but there are often problems of insufficient manpower and resource limitations. Controlling unmanned fire trucks to assist firefighters in firefighting and rescue is of great significance. However, it is difficult to operate traditional mechanical remote controls while wearing fireproof clothing. Flexible sensors have become a new system for human-machine control. Existing flexible sensors have problems such as not being skin-friendly, having high modulus, being large in size, not breathable, having a small detection range, and having low stability, making them unsuitable for firefighting and rescue.

[0003] For example, CN114543650B discloses a flexible strain stretchable sensor and smart gloves, in which the flexible strain stretchable sensor with a two-dimensional planar structure uses polydimethylsiloxane (PDMS) as the substrate layer, and two connecting parts are used between each finger and the sensor. However, the bending degree of the finger is unevenly mapped on the finger. This structure easily causes the sensor to arch or over-stretch locally, reducing the sensing stability. At the same time, the substrate modulus of the planar polymer is high, it is not breathable, and does not stick to the skin. Therefore, it cannot be used for human-computer interaction in fire rescue.

[0004] Resistive flexible sensors find it difficult to combine low modulus, wide strain detection range, and high stability, and flexible sensors are still lacking in human-computer interaction in firefighting and rescue. Summary of the Invention

[0005] The present invention provides a method for preparing a sensing glove based on a flexible yarn sensor and a control system. A composite sensitive unit is designed for a one-dimensional yarn structure, and a layer-by-layer self-assembly method is adopted. The excellent electrical properties and mechanical structure of carbon materials are utilized as the first layer of sensitive units. The carbon material has high conductivity, enabling it to provide a fast and sensitive electrical signal response in sensing applications. The film-forming property of a high molecular conductive polymer is utilized as the second layer of sensitive units, which can be evenly covered on the surface of the carbon material to form a continuous and uniform conductive film as a protective layer. By comparing and analyzing the mechanical properties and sensor performance of the sensor, it is found that this process improves the detection range and stability of the sensor. Based on the method for preparing the gloves of the sensor, the "bow" knitted structure enhances the stability of the sensing glove and improves the longitudinal sensitivity. Based on the control system of the sensing glove, including a wearable flexible sensor, a data acquisition and processing unit, a wireless transceiver unit and a receiving device actuator, it has the characteristics of being lightweight, soft, skin-friendly, stable and fast in sensing detection, and can realize the function of controlling unmanned fire trucks to perform rescue and firefighting at fire scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0007] Figure 1 1 is a schematic flow chart of a method for preparing a sensing glove based on a flexible yarn sensor provided by the present invention;

[0008] Figure 2 is a stress-strain diagram of the flexible yarn sensor provided by the present invention;

[0009] Figure 3 is a relative resistance change-strain diagram of the flexible yarn sensor provided by the present invention;

[0010] Figure 4 is the repeatability of the flexible yarn sensor provided by the present invention under a 50% strain range;

[0011] Figure 5 1 is a schematic structural diagram of the sensor glove provided by the present invention;

[0012] Figure 6 yes Figure 5 A magnified image of the sensor portion of the sensing glove;

[0013] Figure 7 The present invention provides a control system for a sensing glove based on a flexible yarn sensor. DETAILED DESCRIPTION

[0014] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0015] In internal rescue at the fire scene, huge challenges are often faced due to insufficient manpower and resource limitations. In order to effectively assist firefighters in fire extinguishing and rescue, it is particularly important to control unmanned fire trucks. Flexible sensors have become a new system because they can achieve a direct connection between human body movement and equipment control. Through flexible sensors, firefighters can control unmanned fire trucks with simple gestures or body movements, thereby improving operational flexibility and efficiency. However, existing flexible sensors have some limitations, such as not being skin-friendly, having high modulus, large size, being non-breathable, having a small detection range and low stability. These problems make it difficult to apply them in practical firefighting and rescue. The present invention utilizes flexible yarn sensors knitted into sensing gloves, which can achieve lightweight, soft, skin-friendly, stable and rapid sensing detection, and realize the control of unmanned fire trucks. Specifically, Figure 1 The figure is a schematic flow chart of a method for preparing a sensing glove based on a flexible yarn sensor provided by the present invention, comprising:

[0016] Step 101: preparing a first conductive solution based on carbon materials and a second conductive solution based on high molecular conductive polymers;

[0017] Step 102: soaking the yarn in a first conductive solution, removing the yarn, and drying it with hot air to obtain a conductive yarn;

[0018] Step 103: immersing the conductive yarn in a second conductive solution, removing the conductive yarn, and drying the yarn with a protective coating through hot air.

[0019] Step 104: Using wires to lead out electrodes at both ends of the conductive yarn with the protective coating to obtain a flexible yarn sensor;

[0020] Step 105: Based on the flexible yarn sensor, a flexible wearable sensing glove is knitted using knitting technology.

[0021] In step 101, the carbon material is firstly dispersed uniformly in deionized water using a dispersant and then oscillated using an ultrasonic disperser for 30 minutes, so that the mass fraction of the first conductive solution is maintained at 5-15%. Similarly, the second conductive solution is prepared so that its mass fraction is greater than 3

[0022] %. Preferably, the carbon material includes at least one of carbon nanotubes, graphene, carbon black, and graphite; preferably, the high molecular conductive polymer-based material includes at least one of poly(3,4-ethylenedioxythiophene): poly(sodium styrene sulfonate), polyaniline, and polypyrrole;

[0023] In step 102, the cleaned yarn is first immersed in a first conductive solution for 5-10 minutes, and then dried in hot air at 80-100 degrees Celsius for 2 minutes to form a uniform carbon material layer on the yarn surface. The yarn is a coated yarn with a diameter of 0.1 mm to 3 mm. Preferably, the coated yarn is composed of at least one of cotton, linen, wool, silk, polyester, spandex, nylon, and acrylic.

[0024] In step 103, the yarn with the carbon material layer in step 102 is immersed in the second conductive solution for 5 to 10 minutes, and then dried under hot air at 80 to 100 degrees Celsius for 2 minutes to form a uniform polymer conductive film layer on the surface of the carbon material layer.

[0025] In step 104, a wire is used to connect the two ends of the conductive yarn obtained in step 103, and the connection is bonded with conductive silver paste. The diameter of the wire is 0.1mm~1mm. Preferably, the wire includes one of a silver wire, a copper wire and an aluminum wire.

[0026] In step 105, the lengths of the five fingers are first measured, and then a flexible yarn sensor with a length 2.5 times that of the finger is selected as the sensing unit of the corresponding finger. Using knitting technology, the flexible yarn sensor is knitted with ordinary fabric in a "bow" structure into a flexible wearable sensing glove.

[0027] The technical solution of the present invention is further illustrated by Example 1 and Comparative Example below:

[0028] Example 1:

[0029] Multi-walled carbon nanotubes were dispersed in deionized water using a dispersant, and ultrasonic dispersion was used to obtain a 13% by mass aqueous solution of multi-walled carbon nanotubes as the first conductive solution; a 5% by mass PEDOT:PSS (poly(3,4-ethylenedioxythiophene):poly(sodium styrene sulfonate)) solution was used as the second conductive solution; the cleaned polyester coated yarn was immersed in the first conductive solution, dried after 10 minutes, and dried under hot air at 90 degrees Celsius for 2 minutes to form a multi-walled carbon nanotube layer on the yarn surface; based on the above yarn, it was continued to be immersed in the second conductive solution, and the same drying process was performed to obtain a PEDOT:PSS-multi-walled carbon nanotube-wrapped conductive yarn; the two ends of the conductive yarn were connected to silver-plated wires, and the joints were bonded with conductive silver paste to obtain a flexible yarn sensor; the flexible yarn sensor was selected to be 2.5 times the length of a finger, and knitted into a flexible wearable sensing glove with ordinary fabric in a "bow" structure using knitting technology.

[0030] Comparative Example 1

[0031] A method for preparing a sensing glove is provided. In the comparative example, only the first conductive solution is used in the dipping process, and the second conductive solution is not used. The remaining steps are the same as steps 101, 102, 104, and 105 in the method for preparing a sensing glove based on a flexible yarn sensor. The difference between comparative example 1 and example 1 is that:

[0032] The yarn surface has only a carbon material layer;

[0033] R 2 It is used to measure the linearity of the sensor. In actual tests, it was found that the linearity of the sensor made in Example 1 was low, R 2 is 0.932, while the R 2 For example Figure 3 The value shown is 0.998. This is because there are uneven gaps between the carbon material layers under strain, which reduces the stability and linearity under tension and cannot meet the requirements of stable sensing detection.

[0034] Comparative Example 2

[0035] A method for preparing a sensing glove is provided. In the comparative example, only the second conductive solution is used in the dipping process, and the first conductive solution is not used. The remaining steps are the same as steps 101, 103, 104, and 105 in the method for preparing a sensing glove based on a flexible yarn sensor. The difference between Comparative Example 2 and Example 1 is:

[0036] The yarn surface has only a PEDOT:PSS layer;

[0037] GF is used to measure the sensitivity of the sensor. In actual tests, it was found that the sensor line prepared in Comparative Example 2 had low sensitivity, with a GF of 2.66, while the GF of Example 1 was as follows: Figure 3 The value shown is 6.16. This is because the high molecular conductive polymer has excellent conductive properties, and the high molecular structure can build a stable conductive network under stretching, which improves the linearity while reducing the sensitivity of the sensor.

[0038] Comparative Example 3

[0039] A method for preparing a sensing glove is provided. In a comparative example, twisted polyester fibers are used for impregnation, and polyester coated yarn is not used. The remaining steps are the same as steps 101 to 105 of the method for preparing a sensing glove based on a flexible yarn sensor. The difference between Comparative Example 3 and Example 1 is that:

[0040] The one-dimensional flexible substrates used are different;

[0041] In actual tests, it was found that the strain range of the sensor made in Comparative Example 3 was only 0-50%, and the Young's modulus was 5 MPa, while in Example 1 Figure 2As shown, the strain range of the flexible yarn sensor is 0~200%, and the Young's modulus is 0.09MPa. The low modulus characteristic can improve the comfort of sensing detection.

[0042] Figure 2 The stress-strain diagram of the flexible yarn sensor provided by the present invention under 0-200% strain is shown. The sensor has the characteristics of low modulus and wide strain detection range; Figure 3 The figure is a graph of the relative resistance change-strain of the flexible yarn sensor provided by the present invention at 0-200%, wherein the sensor has the characteristics of high sensitivity and high linearity; Figure 4 This is a performance cycle diagram of 20,000 times of the flexible yarn sensor provided by the present invention at 0-50%, and the sensor has excellent stability.

[0043] Figure 5 The present invention provides a sensing glove and control system based on a flexible yarn sensor, comprising a flexible yarn sensor 1, a wire 2, a data processing unit 3 and Figure 7 The receiving device actuator 7 in the data processing unit includes data acquisition, data processing and wireless transmission functions, which is used to collect hand movements, convert them into instructions and send them to the receiving device actuator, thereby controlling the unmanned fire-fighting vehicle to realize the fire-fighting function.

[0044] Figure 6 yes Figure 5 The enlarged view of the yarn sensor 1 shows the "bow" knitted structure of the sensing glove, including a flexible yarn sensor 4 and ordinary fabric 5. The flexible yarn sensor and ordinary fabric are mixed with paper to improve structural stability, reduce relative slippage between the sensor and the skin, and improve detection accuracy. At the same time, this structure can also increase the longitudinal sensitivity of the sensing glove to 200%.

[0045] Figure 7 This is the control system of the sensing glove based on the flexible yarn sensor provided by the present invention. The receiving device actuator 7 is used to receive the sensing glove signal and execute instructions, and the fire extinguishing nozzle 8 realizes the fire extinguishing function; among them, the index finger is used to control the unmanned fire extinguishing vehicle to move forward, the middle finger is used to control the unmanned fire extinguishing vehicle to turn, and the ring finger is used to control the unmanned fire extinguishing vehicle to perform the fire extinguishing function.

Claims

1. A method for preparing a sensing glove based on a flexible yarn sensor, characterized in that: include: preparing a first conductive solution based on carbon materials and preparing a second conductive solution based on high molecular conductive polymers; The yarn is immersed in a first conductive solution, taken out, and dried with hot air to obtain a conductive yarn; The conductive yarn is immersed in a second conductive solution, extracted, and dried with hot air to obtain a conductive yarn with a protective coating; Leading out electrodes from both ends of the conductive yarn with the protective coating with wires to obtain a flexible yarn sensor; Based on the flexible yarn sensor, a flexible wearable sensing glove is knitted using knitting technology.

2. The method for preparing a sensing glove based on a flexible yarn sensor according to claim 1, characterized in that: In the process of preparing a first conductive solution based on carbon materials and preparing a second conductive solution based on high molecular conductive polymers; Preferably, the carbon material includes at least one of carbon nanotubes, graphene, carbon black, and graphite; Preferably, the high molecular conductive polymer-based material includes at least one of poly(3,4-ethylenedioxythiophene):poly(sodium styrene sulfonate), polyaniline and polypyrrole; The mass fraction of the carbon material in the first conductive solution is 5-15%, and the mass fraction of the second conductive solution is 5-15%.

3. The method for preparing a sensing glove based on a flexible yarn sensor according to claim 1, characterized in that: 3-5% of the yarn is a covered yarn with a diameter of 0.1 mm to 3 mm. Preferably, the covered yarn is composed of at least one of cotton, linen, wool, silk, polyester, spandex, nylon, and acrylic. The dipping time is 5 to 10 minutes, the hot air drying temperature is 80 to 100 degrees Celsius, and the drying time is 2 minutes.

4. The method for preparing a sensing glove based on a flexible yarn sensor according to claim 1, characterized in that: Use wires to lead out electrodes, including: Conductive silver paste is used to bond the two ends of the conductive yarn with a protective coating to the wire to obtain a flexible yarn sensor. The diameter of the wire is 0.1 mm to 1 mm. Preferably, the wire includes one of a silver wire, a copper wire and an aluminum wire.

5. The method for preparing a sensing glove based on a flexible yarn sensor according to claim 1, characterized in that: Based on the flexible yarn sensor, a flexible wearable sensing glove is knitted using knitting technology, including: According to the length of the finger, a flexible yarn sensor with a length of 2.5 times the length is selected as the sensing unit of the corresponding finger; Using knitting technology, flexible yarn sensors are knitted with ordinary fabrics in a "bow" structure into flexible wearable sensing gloves.

6. A sensing glove control system based on a flexible yarn sensor, characterized in that: It comprises a flexible yarn sensor obtained by the method for preparing the sensing glove according to any one of claims 1 to 5, a data processing unit and a receiving device actuator; Wherein, the wearable flexible sensor is connected to a data processing unit, which includes data acquisition, data processing and wireless transmission functions, and the wireless transmission function is connected to the receiving device actuator.

7. The sensing glove control system based on the flexible yarn sensor according to claim 6, characterized in that: The data acquisition and processing unit is designed to collect the voltage signal of the flexible yarn sensor through voltage division, process the noise through low-pass filtering, convert it into a digital signal, and obtain the corresponding control signal through the combination of five fingers.

8. The sensing glove control system based on flexible yarn sensor according to claim 6, characterized in that: The wireless transceiver unit is used to transmit control instructions from the sensor glove to the receiving device actuator; The receiving device actuator is used to control the unmanned fire-fighting truck, and through the control function of the sensing glove, its movement and fire-fighting instructions at the fire scene are realized.

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