A flexible force tactile sensing device for dynamic measurement of fluid motion

Abstract

The application discloses a flexible force tactile perception device for dynamic measurement of fluid motion, which comprises a control body and a perception body, the control body comprises a main control box, the perception body comprises a positive self-adaptive mechanism, a signal preprocessing assembly, a base and a flexible force tactile sensing sheet array, the control body is rotatably connected with the perception body through a steering arm of the positive self-adaptive mechanism, the signal preprocessing assembly is arranged between the positive self-adaptive mechanism and the base, the flexible force tactile sensing sheet array is arranged below the base, and the main control box is in communication connection with a terminal through WIFI. The flexible force tactile perception device can accurately perceive the motion state of dynamic fluid by the force-sensitive bending property of four groups of strain type flexible force tactile sensing sheets and the correlation of different degrees of deformation in different directions, so that the flexible perception force of a human hand is simulated.

Description

Technical Field

[0001] This invention relates to the field of robot sensing technology, and in particular to a flexible force-tactile sensing device for dynamic measurement of fluid motion. Background Technology

[0002] With the rapid development of environmental perception in intelligent robots, intelligent robots need multimodal perception composite analysis to work more efficiently in complex environments. Among these, the research on tactile perception, which is second only to vision, still has room for improvement and has become an important research direction for the foreseeable future.

[0003] Robotic tactile sensing primarily perceives physical quantities such as temperature, humidity, pressure, and vibration when the robot interacts with its external environment, as well as the hardness, shape, and size of the target object's material. Traditional tactile sensing typically refers to the general term for mechanical stimuli such as sliding, contact, and pressure. Traditional tactile sensing often focuses on static or weakly dynamic solid perception, sensing the hardness, shape, and structure of the target solid material, but rarely considers highly dynamic fluids as the object of perception. Furthermore, most tactile sensors can only measure normal or tangential forces. Although three-dimensional force tactile sensors exist, they can only accurately measure one-dimensional tangential and normal forces, with limited research on fluid tactile sensing, which involves variable shapes and arbitrary force directions. Therefore, achieving highly dynamic fluid perception is also an important direction for force tactile sensors. This invention provides a flexible force tactile sensing device for dynamic measurement of fluid motion. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a flexible force tactile sensing device for dynamic measurement of fluid motion.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A flexible force-tactile sensing device for dynamic measurement of fluid motion includes a control unit and a sensing unit. The control unit includes a main control box (1); the sensing unit includes a positive adaptive mechanism (2), a signal preprocessing component (3), a base (4), and a flexible force-tactile sensing plate array (5).

[0007] The control body and the sensing body are rotatably connected through the servo rocker arm of the positive adaptive mechanism (2). The signal preprocessing component (3) is provided between the positive adaptive mechanism (2) and the base (4). The flexible force tactile sensor array (5) is provided below the base (4). The main control box (1) and the terminal communicate via WIFI.

[0008] The main control box (1) is electrically connected to the positive adaptive mechanism (2), the signal preprocessing component (3), and the flexible force tactile sensor array (5).

[0009] The main control box (1) includes a circuit motherboard and a status display component, wherein:

[0010] The main circuit board includes a microcontroller, a power supply module, an over-range alarm module, an AD conversion module, and a communication module. The status display component includes a power status LED and an over-range alarm LED.

[0011] The positive adaptive mechanism (2) includes a three-axis magnetic field sensor module and a servo motor, enabling the device to adaptively adjust its position.

[0012] The signal preprocessing component (3) consists of four identical signal preprocessing modules; each signal preprocessing module is composed of a two-stage operational amplifier circuit.

[0013] The flexible force-tactile sensor array (5) includes four identical flexible force-tactile sensor sheets;

[0014] The flexible force-sensitive tactile sensor includes a sensitive grid wire and a substrate; the sensitive grid wire is made of constantan filament; and the substrate is made of modified phenolic resin.

[0015] A method for applying a flexible force-tactile sensing device for dynamic measurement of fluid motion includes the following steps:

[0016] S1: First, the device is installed at the end of the multi-sensor area, such as the fingertip or palm of the machine. The device adapts its direction so that the direction of the flexible force tactile sensor 1 is due north.

[0017] S2: Place the sensing end of the flexible force-tactile sensor array of the device in a gaseous / liquid fluid. The flow acts on the flexible force-sensitive tactile pad.

[0018] S3: The transpose automatically determines the deflection of the flexible force tactile sensor array and extracts the inward deflection of the sensor as valid deflection. Flexible force tactile sensor a and flexible force tactile sensor b deflect inward, causing a change in resistance ΔR due to the strain effect. a ΔR b If an error occurs or the fluid flow rate is too high, causing the flow rate to exceed the limit, the alarm indicator light will illuminate.

[0019] S4: The resistance change of the flexible force-sensitive sensor is processed by the signal preprocessing component to obtain the corresponding voltage value U. a U b .

[0020] S5: The corresponding force is obtained by linearly fitting the Uf relationship obtained from a large amount of data before the test. Obtained through the composition of forces The magnitude of the force is f ab The direction is positive (a) and slightly positive (b). Spend.

[0021] S6: The sensing area A of the sensor is known; the fluid density ρ is the density of air / water by default, but can be set by software; the drag coefficient C is the drag coefficient of the sensor in air / water by default, but can be set by software based on the fluid resistance formula. Obtain fluid flow rate

[0022] S7: Flow the obtained data The direction of positive a and the deviation of positive b, α degree, and the fluid velocity v are uploaded to the smart terminal by the communication module.

[0023] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0024] (1) The present invention provides a flexible force tactile sensing device for dynamic measurement of fluid motion. Unlike traditional tactile sensing which uses static and weakly dynamic solids as sensing objects, this device uses the force-sensitive bending properties of four sets of strain-type flexible force tactile sensing sheets to simulate the flexible sensing force of the human hand, and can accurately sense the direction and speed of fluid flow.

[0025] (2) The present invention provides a flexible force tactile sensing device for dynamic measurement of fluid motion. It adopts an array structure composed of four sets of flexible force tactile sensing sheets. Combined with the correlation of different degrees of deformation in opposite directions, it solves the limitation of unidirectional flexible force tactile sensing and improves sensing efficiency.

[0026] (3) The small and precise tentacle-like mechanical structure of the flexible force tactile sensing device for fluid motion dynamic measurement provided by the present invention provides a highly integrated and easy-to-install and disassemble flexible force tactile sensor for robotic hands, which can be applied to multiple sensing areas such as the fingertips and palms of robotic hands.

[0027] (4) The present invention provides a flexible force tactile sensing device for fluid motion dynamic measurement. The flexible sensitive material constantan filament is designed into a special S-shaped structure and embedded in the relatively more flexible protective layer material modified phenolic resin. In the fluid sensing application, it exhibits excellent waterproofness, flexibility, heat resistance and ablation resistance.

[0028] (5) The present invention provides a flexible force tactile sensing device for dynamic measurement of fluid motion, which provides an extended approach to the force tactile direction of robotic hands. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. To better illustrate this embodiment, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product size.

[0030] Figure 1 This is a diagram illustrating the technical features of the present invention;

[0031] Figure 2 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0032] Figure 3 This is a schematic diagram illustrating the adaptive orientation of the flexible force-tactile sensing sheet array described in this invention.

[0033] Figure 4 This is a three-dimensional structural diagram of the flexible force-tactile sensing sheet described in this invention;

[0034] Figure 5 This is a flowchart illustrating the working principle of the present invention;

[0035] Figure 6 This is a structural diagram of the control system of the present invention.

[0036] The components include: 1. Main control box; 2. Positive adaptive mechanism; 3. Signal preprocessing component; 4. Base; 5. Flexible force tactile sensor array; 51. Flexible force tactile sensor one; 511. Sensitive grid wire; 512. Sensor base; 513. Electrical connection terminal of sensor; 52. Flexible force tactile sensor two; 53. Flexible force tactile sensor three; 54. Flexible force tactile sensor four; 6. Power status display LED; 7. Over-range alarm LED; 8. Servo rotating gear; 9. Support column. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0038] like Figure 1-2 As shown, a flexible force-tactile sensing device for dynamic measurement of fluid motion includes a control unit and a sensing unit. The control unit includes a main control box (1); the sensing unit includes a positive adaptive mechanism (2), a signal preprocessing component (3), a base (4), and a flexible force-tactile sensing plate array (5).

[0039] The control body and the sensing body are rotatably connected through the servo rocker arm of the positive adaptive mechanism (2). The signal preprocessing component (3) is provided between the positive adaptive mechanism (2) and the base (4). The flexible force tactile sensor array (5) is provided below the base (4). The main control box (1) and the terminal communicate via WIFI.

[0040] The main control box (1) is electrically connected to the positive adaptive mechanism (2), the signal preprocessing component (3), and the flexible force tactile sensor array (5).

[0041] The main control box (1) includes a circuit motherboard and a status display component, wherein:

[0042] The main circuit board includes a microcontroller, a power supply module, an over-range alarm module, an AD conversion module, and a communication module. The status display component includes a power status LED and an over-range alarm LED.

[0043] More specifically, the microcontroller is an STM32F103ZET6.

[0044] More specifically, the communication module uses the ESP8266 WIFI module.

[0045] Preferably, the positive adaptive mechanism (2) includes a three-axis magnetic field sensor module and a servo motor, enabling the device to adaptively adjust its position.

[0046] More specifically, the triaxial magnetic field sensor module adopts the QMC5883L.

[0047] More specifically, the servo motor is an SG90.

[0048] More specifically, the servo motor can rotate the main control box from 0° to 180° to adjust the position of the device.

[0049] The signal preprocessing component (3) consists of four identical signal preprocessing modules; each signal preprocessing module is composed of a two-stage operational amplifier circuit.

[0050] More specifically, the operational amplifier is selected as TP09-SR.

[0051] Preferably, the flexible force tactile sensor array (5) includes four identical flexible force tactile sensor sheets; the flexible force tactile sensor sheet includes a sensitive grid wire and a sheet substrate.

[0052] More specifically, the flexible force-tactile sensing sheet is a strain gauge resistor with a sensitivity coefficient of 2.0, a strain of 2%, and a fatigue life of approximately more than 10,000,000 cycles.

[0053] More specifically, all four flexible force-sensitive tactile sheets can be bent from 0° to 45°;

[0054] More specifically, the flexible force-sensitive tactile pad has its back side facing inward, which increases the bending resistance value when the pad bends inward.

[0055] More specifically, the sensitive grid wire is made of constantan filament, which has a low temperature coefficient of resistance and good flexibility;

[0056] More specifically, the substrate of the sheet is made of modified phenolic resin, which has excellent waterproofness, flexibility, heat resistance and ablation resistance;

[0057] More specifically, the sensitive grid wires are vertically S-shaped distributed from the electrical connection end to the sensing end.

[0058] Furthermore, since the fluid environment can be either inside a pipe or in an open environment, this device is only suitable for dynamic sensing of fluid movement in an open environment.

[0059] Furthermore, since the density of liquids and gases differs by nearly a thousand times, fluids are classified into liquid fluids and gaseous fluids. The working modes of a flexible force tactile sensing device for dynamic measurement of fluid motion are divided into Mode 1, where the fluid object is a gas, and Mode 2, where the fluid object is a liquid.

[0060] Furthermore, Mode 1 uses a flexible force tactile sensor with a smaller Uf relationship fitting weight, while Mode 2 uses a flexible force tactile sensor with a larger Uf relationship fitting weight and weak flexibility.

[0061] Reference Figure 3-6 A method for applying a flexible force-tactile sensing device for dynamic measurement of fluid motion includes the following steps:

[0062] S1: First, the device is installed at the end of the multi-sensor area, such as the fingertip or palm of the machine. The device adapts its direction so that the direction of the flexible force tactile sensor 1 is due north.

[0063] S2: Place the sensing end of the flexible force-tactile sensor array of the device in a gaseous / liquid fluid. The flow acts on the flexible force-sensitive tactile pad.

[0064] S3: The transpose automatically determines the deflection of the flexible force tactile sensor array and extracts the inward deflection of the sensor as valid deflection. Flexible force tactile sensor a and flexible force tactile sensor b deflect inward, causing a change in resistance ΔR due to the strain effect. a ΔR b If an error occurs or the fluid flow rate is too high, causing the flow rate to exceed the limit, the alarm indicator light will illuminate.

[0065] S4: The resistance change of the flexible force-sensitive sensor is processed by the signal preprocessing component to obtain the corresponding voltage value U. a U b .

[0066] S5: The corresponding force is obtained by linearly fitting the Uf relationship obtained from a large amount of data before the test. Obtained through the composition of forces The magnitude of the force is f ab The direction is positive (a) and slightly positive (b). Spend.

[0067] S6: The sensing area A of the sensor is known; the fluid density ρ is the density of air / water by default, but can be set by software; the drag coefficient C is the drag coefficient of the sensor in air / water by default, but can be set by software based on the fluid resistance formula. Obtain fluid flow rate

[0068] S7: Flow the obtained data The direction of positive a and the deviation of positive b, α degree, and the fluid velocity v are uploaded to the smart terminal by the communication module.

[0069] The present invention provides a flexible force tactile sensing device for dynamic measurement of fluid motion. Unlike traditional tactile sensing which uses static and weakly dynamic solids as the sensing object, this device utilizes the force-sensitive bending properties of four sets of strain-type flexible force tactile sensing plates to simulate the flexible sensing force of the human hand, and can accurately sense the direction and velocity of fluid flow.

[0070] The present invention provides a flexible force tactile sensing device for dynamic measurement of fluid motion. It adopts an array structure composed of four sets of flexible force tactile sensing sheets. By combining the correlation of different degrees of deformation in opposite directions, it solves the limitations of unidirectional flexible force tactile sensing and improves sensing efficiency.

[0071] The invention provides a compact and precise tentacle-like mechanical structure for a flexible force-tactile sensing device for dynamic measurement of fluid motion. This provides a highly integrated and easily installed / disassembled flexible force-tactile sensor for robotic hands, which can be applied to multiple sensing areas such as the fingertips and palms of robotic hands.

[0072] The present invention provides a flexible force-tactile sensing device for dynamic measurement of fluid motion. The flexible sensitive material constantan filament is designed into a special S-shaped structure and embedded in a relatively more flexible protective layer material modified phenolic resin. In the fluid sensing application, it exhibits excellent waterproofness, flexibility, heat resistance and ablation resistance.

[0073] The present invention provides a flexible force tactile sensing device for dynamic measurement of fluid motion, which offers an extended approach to force tactile direction sensing in robotic hands.

[0074] The specific embodiments of the present invention have been described in detail above, but these are merely examples, and the present invention is not limited to the specific embodiments described above. For those skilled in the art, other different forms of changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. The present invention is not limited to the specific embodiments disclosed herein; other embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. An application method for a flexible force-tactile sensing device for dynamic measurement of fluid motion, characterized in that: The device includes a control unit and a sensing unit, wherein the control unit includes a main control box (1). The sensing subject includes a positive adaptive mechanism (2), a signal preprocessing component (3), a base (4), and a flexible force tactile sensor array (5). The control body and the sensing body are rotatably connected through the servo rocker arm of the positive adaptive mechanism (2). The signal preprocessing component (3) is provided between the positive adaptive mechanism (2) and the base (4). The flexible force tactile sensor array (5) is provided below the base (4). The main control box (1) and the terminal communicate via WIFI. The main control box (1) is electrically connected to the positive adaptive mechanism (2), the signal preprocessing component (3), and the flexible force tactile sensor array (5); The signal preprocessing component (3) consists of four identical signal preprocessing modules; The signal preprocessing module consists of a two-stage operational amplifier circuit. The flexible force-tactile sensor array (5) includes four identical flexible force-tactile sensor sheets; The flexible force-tactile sensing sheet includes sensitive grid wires and a sheet substrate; The sensitive grid wire is made of constantan filament; the substrate of the sheet is made of modified phenolic resin. The method includes the following steps: S1: First, install the device at the end of the multi-sensor area, such as the fingertip or palm of the machine. The device adapts its orientation so that the flexible force tactile sensor 1 faces due north. S2: Place the sensing end of the flexible force-tactile sensor array of the device in a gaseous / liquid fluid. The flow acts on the flexible force-sensitive tactile pad; S3: The device automatically determines the deflection of the flexible force tactile sensor array, extracting the inward deflection of the sensor as effective deflection. Flexible force tactile sensor a and flexible force tactile sensor b deflect inward, causing a change in resistance due to the strain effect. , If the measurement range is exceeded due to misoperation or excessive fluid flow rate, the alarm indicator light will illuminate. S4: The resistance change of the flexible force-sensitive sensor is processed by the signal preprocessing component to obtain the corresponding voltage value. , ; S5: Obtained through linear fitting of a large amount of data before testing. The relationship receives corresponding forces. , Obtained through the composition of forces The magnitude of the force is The direction is positive (a) and slightly positive (b). Spend; S6: The sensing area A of the sensor is known, and the fluid density is... The default density is air / water, which can be set by software; drag coefficient. The default value is the drag coefficient of the sensor in air / water, which can be set by software based on the fluid resistance formula. To obtain the fluid velocity ; S7: Flow the obtained data Direction a is positive, bias b is positive Degree and fluid velocity It is uploaded to the smart terminal by the communication module.

2. The application method of the flexible force-tactile sensing device for dynamic measurement of fluid motion according to claim 1, characterized in that: The main control box (1) includes a circuit motherboard and a status display component, wherein: The circuit board includes a microcontroller, a power supply module, an over-range alarm module, an AD conversion module, and a communication module. The status display component includes a power status display LED and an over-range alarm LED.

3. The application method of the flexible force-tactile sensing device for dynamic measurement of fluid motion according to claim 1, characterized in that: The positive adaptive mechanism (2) includes a three-axis magnetic field sensor module and a servo motor, enabling the device to adaptively adjust its position.

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