Robot Tactile Sensing System

Abstract

The present invention provides a robot tactile perception system, comprising: a magnetic tactile perception structure, a magnetic field signal acquisition module, and a processing module; the magnetic tactile perception structure includes an annular Halbach array composed of a plurality of permanent magnets and a flexible housing covering the outer surface of the annular Halbach array; the magnetic tactile perception structure is disposed at the operating end of the robot and is used to generate a radial deformation under the action of an external force when the robot interacts with the environment so as to convert the external force into a magnetic field signal; the magnetic field signal acquisition module is disposed at the operating end of the robot and at the central position of the magnetic tactile perception structure and is used to acquire the magnetic field signal of the magnetic tactile perception structure; the processing module is electrically connected to the magnetic signal acquisition module and is used to obtain the magnetic field signal of the magnetic tactile perception structure so as to determine the magnitude of the external force based on the magnetic field signal. This system has high accuracy and high precision in perceiving external forces.

Description

Technical Field

[0001] The present invention relates to the technical field of information acquisition, and particularly to a robot tactile perception system. Background Art

[0002] Tactile information includes the mechanical characteristics of a robot during its interaction with the external environment. Therefore, tactile-based perception technologies have a wide range of applications in various fields such as human-robot collaboration, motion control, medical health, etc. Tactile perception technology can provide important decision-making basis for intelligent interaction and flexible operation of robots in complex manipulation environments, and is one of the most important perception means for robots in precision manipulation environments. However, the insufficient application of tactile information often leads to sudden accidents during the interaction process. When a robot interacts with a complex environment, it needs to avoid collisions with the external environment. Therefore, traditional rigid tactile sensors do not meet the requirements. In addition, due to the sometimes small force stimuli during the interaction process, it is often difficult for the sensing accuracy of the sensor to sense small force stimuli.

[0003] In response to the above problems, the Chinese invention patent CN114993528A, which was publicly disclosed on September 2, 2022, discloses a tactile sensor and its preparation method. The tactile sensor adopts a "cross-shaped" conductive channel structure and can detect the magnitude and direction of external mechanical stimuli. The Chinese invention patent CN115014596A, which was publicly disclosed on September 6, 2022, discloses a piezoresistive flexible tactile sensor. This sensor has a grid-like microstructure and can measure three-dimensional forces and tensile deformations through the resistance change of the piezoresistive ring. The Chinese invention patent CN115342949A, which was publicly disclosed on November 15, 2022, discloses a flexible tactile sensor including a surface texture sensor and a pressure sensor, and can sense external force stimuli through a piezoelectric thin film.

[0004] However, although the above patents disclose flexible tactile sensors with certain applicability, most of these sensors rely on the "data-driven" method to establish the relationship between the output quantity and the external force stimulus. The established relationship is not interpretable, and the noise in the data will affect the accuracy of the obtained external force stimulus, affecting its use in complex scenarios. Summary of the Invention

[0005] The present invention provides a robot tactile perception system to solve the problem that the tactile sensors in the prior art rely on the "data-driven" method for tactile perception, and the noise in the data seriously affects the accuracy of the external force sensing result. It realizes a robot tactile perception system in which the external force received by the magnetic tactile perception structure can be analyzed and calculated through the change of the internal magnetic field, enhancing the interpretability of the tactile perception process and making the accuracy of the external force sensing relatively high.

[0006] The present invention provides a robot tactile perception system, comprising: a magnetic tactile perception structure, a magnetic field signal acquisition module, and a processing module;

[0007] The magnetic tactile perception structure includes an annular Halbach array composed of a plurality of permanent magnets and a flexible housing covering the outer surface of the annular Halbach array;

[0008] The magnetic tactile perception structure is disposed at the operating end of the robot and is configured to generate a radial deformation under the action of an external force when the robot interacts with the environment, so as to convert the external force into a magnetic field signal;

[0009] The magnetic field signal acquisition module is disposed at the operating end of the robot and at the central position of the magnetic tactile perception structure, and is configured to acquire the magnetic field signal of the magnetic tactile perception structure;

[0010] The processing module is electrically connected to the magnetic signal acquisition module and is configured to obtain the magnetic field signal of the magnetic tactile perception structure, so as to determine the magnitude of the external force based on the magnetic field signal.

[0011] According to a robot tactile perception system provided by the present invention, the processing module is specifically configured to:

[0012] Obtain a first correspondence between the magnetic induction intensity at the central position of the magnetic tactile perception structure and the deformation of the magnetic tactile perception structure;

[0013] Based on elasticity mechanics, calculate and obtain a second correspondence between the deformation of the magnetic tactile perception structure and the external force;

[0014] Determine a third correspondence between the magnetic induction intensity and the external force according to the first correspondence and the second correspondence, and establish a corresponding list;

[0015] Obtain the current magnetic signal to know the magnetic induction intensity at the central position of the current magnetic tactile perception structure;

[0016] Based on the magnetic induction intensity at the central position of the current magnetic tactile perception structure, query the corresponding list to determine the magnitude of the current external force.

[0017] According to a robot tactile perception system provided by the present invention, the processing module is specifically configured to:

[0018] Obtain a first correspondence between the magnetic induction intensity at the central position of the magnetic tactile perception structure and the deformation of the magnetic tactile perception structure, and establish a first corresponding list;

[0019] Obtain the current magnetic signal to know the magnetic induction intensity at the central position of the current magnetic tactile perception structure;

[0020] Based on the magnetic induction intensity at the central position of the current magnetic tactile perception structure, query the first corresponding list to determine the deformation data of the current magnetic tactile perception structure;

[0021] Based on elasticity mechanics, calculate the magnitude of the current external force according to the deformation data of the current magnetic tactile perception structure.

[0022] According to a robot tactile perception system provided by the present invention, the magnetic field signal acquisition module is specifically used for:

[0023] Acquire the magnetic field signal of the magnetic tactile perception structure;

[0024] Convert the magnetic field signal into an electrical signal for output.

[0025] According to a robot tactile perception system provided by the present invention, it further includes:

[0026] A display module, electrically connected to the processing module, for displaying the magnitude of the external force.

[0027] According to a robot tactile perception system provided by the present invention, it further includes:

[0028] A speaker, electrically connected to the processing module, for broadcasting the magnitude of the external force.

[0029] According to a robot tactile perception system provided by the present invention, it further includes:

[0030] An alarm, electrically connected to the processing module, for alarming when the magnitude of the external force exceeds a preset threshold.

[0031] According to a robot tactile perception system provided by the present invention, the flexible housing is made of liquid silicone rubber material.

[0032] According to a robot tactile perception system provided by the present invention, the annular Halbach array is composed of at least 8 of the permanent magnets.

[0033] The robot tactile perception system provided by the present invention, through the setting of the magnetic tactile perception structure, on the one hand, the external force received by the magnetic tactile perception structure can be analyzed and calculated through the change of the internal magnetic field, enhancing the interpretability of the tactile perception process and making the accuracy of the external force sensing relatively high; on the other hand, the magnetic tactile perception structure includes an annular Halbach array, and the change of the internal magnetic field of the annular Halbach array is more obvious under a small deformation, improving the sensing accuracy of the tactile perception system for a tiny external force. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 is one of the structural schematic diagrams of the robot tactile perception system provided by the present invention;

[0036] Figure 2 is the structural schematic diagram of the magnetic tactile perception structure provided by the present invention;

[0037] Figure 3 is the structural schematic diagram of the annular Halbach array provided by the present invention;

[0038] Figure 4 is the second structural schematic diagram of the robot tactile perception system provided by the present invention;

[0039] Figure 5 is the first flow schematic diagram of the processing method of the processing module provided by the present invention;

[0040] Figure 6 is the structural schematic diagram of the contact between the magnetic tactile perception structure provided by the present invention and an external object;

[0041] Figure 7 is the second flow schematic diagram of the processing method of the processing module provided by the present invention;

[0042] Figure 8 is the flow schematic diagram of the acquisition method of the magnetic field signal acquisition module provided by the present invention;

[0043] Figure 9 is the third structural schematic diagram of the robot tactile perception system provided by the present invention.

[0044] Reference numerals:

[0045] 10. Magnetic tactile perception structure; 11. Annular Halbach array; 12. Flexible housing; 20. Magnetic field signal acquisition module; 30. Processing module; 40. Robot; 50. Display module. Detailed implementation manners

[0046] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0047] The following will describe Figures 1-9 the tactile perception system of the robot 40 of the present invention. As Figure 1 shown in the figure, the system includes: a magnetic tactile perception structure 10, a magnetic field signal acquisition module 20, and a processing module 30; the magnetic tactile perception structure 10 includes an annular Halbach array 11 composed of a plurality of permanent magnets and a flexible housing 12 covering the outer surface of the annular Halbach array 11; the magnetic tactile perception structure 10 is disposed at the operating end of the robot 40 and is used to generate a radial deformation under the action of an external force when the robot 40 interacts with the environment to convert the external force into a magnetic field signal; the magnetic field signal acquisition module 20 is disposed at the operating end of the robot 40 and at the central position of the magnetic tactile perception structure 10 for acquiring the magnetic field signal of the magnetic tactile perception structure 10; the processing module 30 is electrically connected to the magnetic signal acquisition module and is used to obtain the magnetic field signal of the magnetic tactile perception structure 10 to determine the magnitude of the external force based on the magnetic field signal.

[0048] Specifically, the tactile perception system of the robot 40 includes: a magnetic tactile perception structure 10, a magnetic field signal acquisition module 20, and a processing module 30. As Figure 2 shown, the magnetic tactile perception structure 10 includes an annular Halbach array 11 composed of a plurality of permanent magnets and a flexible housing 12 including the annular Halbach array 11. The annular Halbach array 11 is a magnet structure and is an approximately ideal structure in engineering. The goal is to generate the strongest magnetic field with the smallest number of magnets. As Figure 3 shown, a schematic diagram of the 1st-order, 2nd-order, 3rd-order, and 4th-order annular Halbach arrays 11 is shown. It can be seen from Figure 2 that the polarization direction at the central position of the 2nd-order annular Halbach array 11 has a definite and unique direction, which is convenient for analyzing and calculating the external force based on the magnetic induction intensity. Therefore, the annular Halbach array 11 in the tactile perception system of the robot 40 preferably selects the 2nd-order annular Halbach array 11. The flexible housing 12 is provided to wrap and form the annular Halbach array 11 composed of a plurality of permanent magnets on the one hand, and on the other hand, it is convenient for flexible contact with the environment to improve the safety during contact. Further, the flexible housing 12 also has good resilience and can quickly rebound when the external force disappears after being deformed by the external force.

[0049] The operating end of the robot 40 is the end of the robot 40 that contacts the interactive object during the interaction with the interactive object. Figure 4 As shown in FIG. 4 , the robot 40 may be a structure such as a robot arm, and the operating end of the robot 40 is Figure 4 The annular Halbach array 11 is arranged at the operating end of the robot 40, so that the external force applied to the robot 40 during operation is a radial force relative to the annular Halbach array 11, causing the annular Halbach array 11 to deform radially.

[0050] The magnetic field signal acquisition module 20 can be a magnetic field signal acquisition chip, which is arranged at the operating end of the robot 40 and located at the center of the annular Halbach array 11. It is used to collect the changing magnetic induction intensity when the annular Halbach array 11 is deformed by external force, thereby causing the magnetic induction intensity at the center position to change.

[0051] The processing module 30 is electrically connected to the magnetic signal acquisition module, specifically, can be electrically connected via a serial port connection line, and is used to obtain the magnetic field signal of the magnetic tactile sensing structure 10, that is, the magnetic induction intensity at the center of the magnetic tactile sensing structure 10, and determine the external force exerted on the magnetic tactile sensing structure 10 through the magnetic induction intensity.

[0052] The robot 40 tactile perception system provided by the present invention, through the setting of the magnetic tactile perception structure 10, on the one hand, the external force exerted on the magnetic tactile perception structure 10 can be analyzed and calculated through the change of the internal magnetic field, thereby enhancing the interpretability of the tactile perception process and making the accuracy of external force sensing higher; on the other hand, the magnetic tactile perception structure 10 includes an annular Halbach array 11, and the change of the internal magnetic field of the annular Halbach array 11 is more obvious under smaller deformation, thereby improving the sensing accuracy of the tactile perception system for tiny external forces.

[0053] In one embodiment, Figure 5 As shown, the processing module 30 is specifically used for:

[0054] S501: Acquire a first corresponding relationship between the magnetic induction intensity at the center position of the magnetic tactile sensing structure 10 and the deformation of the magnetic tactile sensing structure 10 .

[0055] S502: Obtaining a second corresponding relationship between the deformation of the magnetic tactile sensing structure 10 and the external force based on elastic mechanics calculation.

[0056] S503: Determine a third corresponding relationship between the magnetic induction intensity and the external force according to the first corresponding relationship and the second corresponding relationship and establish a corresponding list.

[0057] S504: Obtain the current magnetic signal to know the magnetic induction intensity at the central position of the current magnetic tactile perception structure 10.

[0058] S505: Based on the magnetic induction intensity at the central position of the current magnetic tactile perception structure 10, query the corresponding list to determine the magnitude of the current external force.

[0059] Specifically, to improve the real-time performance of tactile perception, the processing module 30 can pre-obtain a first correspondence based on the correspondence between the deformation of the magnetic tactile perception structure 10 and the magnetic induction intensity at the central position. The first correspondence is that when the deformation is A, the magnetic induction intensity at the central position corresponds to a, and when the deformation is B, the magnetic induction intensity at the central position corresponds to b. The processing module 30 also needs to pre-obtain a second correspondence between the deformation of the magnetic tactile perception structure 10 and the external force. The second correspondence is obtained based on elastic mechanics calculations. The second correspondence is that when the deformation is A, the corresponding external force is α, and when the deformation is B, the corresponding external force is β. According to the first correspondence and the second correspondence, the processing module 30 can pre-determine a third correspondence between the magnetic induction intensity and the external force. The third correspondence is that when the magnetic induction intensity is a, the corresponding external force is α, and when the magnetic induction intensity is b, the corresponding external force is β. The corresponding list is a table established according to the third correspondence, and the table shows the external force data values corresponding to different magnetic induction intensity values.

[0060] During tactile perception, the processing module 30 obtains the current magnetic signal to know the magnetic induction intensity at the central position of the current magnetic tactile perception structure 10. According to the obtained current magnetic induction intensity, by searching in the corresponding list, the external force corresponding to the current magnetic induction intensity can be found.

[0061] The analysis and calculation process of the relationship between the magnetic induction intensity at the central position of the magnetic tactile perception structure 10 and the deformation of the magnetic tactile perception structure 10 is as follows:

[0062] The annular Halbach array 11 is a magnetized hollow cylinder composed of permanent magnetic materials with a hollow center, and the strong magnetic field generated by it is completely confined inside the hollow cylinder.

[0063] In an ideal annular Halbach array 11, multiple permanent magnets form a completely connected seamless ring. According to relevant electromagnetic theory, at a point on the ideal annular Halbach array 11 without external force the magnetic induction intensity can be expressed as:

[0064]

[0065] In the formula: B ris the remanence intensity of a single permanent magnet, and the remanence intensities of all permanent magnets are the same; m is the order of the ring Halbach array 11, m = 2; ε is the angle formed by the point and the positive direction of the X-axis of the coordinate axis. The direction of the X-axis is the same as the polarization direction at the center position of the ring Halbach array 11; is the point the unit vector in the radial direction at the place, is the point the unit vector in the tangential direction at the place.

[0066] In the case of not being subjected to an external force, the magnetic induction intensity generated by the ideal ring Halbach array 11 at the internal center position is:

[0067]

[0068] In the formula: B r is the remanence intensity of a single permanent magnet, and the remanence intensities of all permanent magnets are the same; r o is the outer radius of the ring Halbach array 11; r i is the inner radius of the ring Halbach array 11; is the unit vector in the positive direction of the X-axis.

[0069] For the position coordinates of the points on the ideal ring Halbach array 11, the coordinates of the internal center position of the ideal ring Halbach array 11 points, and the magnetic induction intensity at the point are all expressed in complex form, that is, denoted as:

[0070]

[0071]

[0072]

[0073] In the formula: is the X-axis component of the magnetic induction intensity at the point at the place, is the Y-axis component of the magnetic induction intensity at the point at the place, and i represents an imaginary number.

[0074] After deriving formula (5), in the case of not considering the thickness (t) of the permanent magnet, after the ideal ring Halbach array 11 is deformed by an external force, the magnetic induction intensity at the center position is:

[0075]

[0076] In the formula: B ris the remanence intensity of a single permanent magnet, and the remanence intensities of all permanent magnets are the same; b i and b o are the semi-minor axes of the inner and outer ellipses of the deformed annular Halbach array 11 respectively; ∈ i and ∈ o are the eccentricities of the inner and outer ellipses of the deformed annular Halbach array 11 respectively.

[0077] Formula (6) is derived without considering the thickness t of the permanent magnet. Therefore, a correction factor should be added to consider the thickness of the permanent magnet to make formula (6) closer to the actual situation. Specifically:

[0078]

[0079]

[0080]

[0081]

[0082] Among them, B r is the remanence intensity of a single permanent magnet, and the remanence intensities of all permanent magnets are the same; t is the thickness of the permanent magnet; b i and b o are the semi-minor axes of the inner and outer ellipses of the deformed annular Halbach array 11 respectively; ∈ i and ∈ o are the eccentricities of the inner and outer ellipses of the deformed annular Halbach array 11 respectively; is the magnetic induction intensity at the center position of the ideal deformed annular Halbach array 11 after considering the thickness; ρ i is the distance from a point on the inner ellipse ring of the deformed annular Halbach array 11 to the center point of the annular Halbach array 11, and ρ o is the distance from a point on the outer ellipse ring of the deformed annular Halbach array 11 to the center point of the annular Halbach array 11.

[0083] For the ideal integrated annular Halbach array 11 where they intersect, the annular Halbach array 11 composed of multiple permanent magnets, on the one hand, has gaps, which will cause magnetic leakage, and on the other hand, the number of permanent magnets forming the annular Halbach array 11 will also affect the magnetic induction intensity at the center position. Therefore, based on formula (10), an area correction factor (ACF) and a block correction factor (BCF) are added to make the perceived external force closer to the actual situation, that is:

[0084]

[0085]

[0086] In the formula, as Figure 2 shown, S p is the sum of the areas of the fan-shaped surfaces of multiple permanent magnets, and S e is the area after deformation of the annular surface of the ring formed by multiple permanent magnets, is the corrected calculation formula for magnetic induction intensity.

[0087] According to Equation (12), we can obtain the relationship between the magnetic induction intensity at the center position of the annular Halbach array 11 and the amount of deformation.

[0088] Then, combined with the existing relevant theories of elasticity mechanics, the analytical mapping relationship between the magnetic induction intensity at the center and the external force stimulus can be finally established.

[0089] As Figure 6 shown, based on elasticity mechanics, the relationship between the deformation of the magnetic tactile sensing structure 10 and the external force applied is specifically:

[0090] The total deformation amount α t is expressed as the sum of the upper deformation α u and the lower deformation α b :

[0091] α t = α u + α b (13)

[0092] Among them, the upper deformation α u is the deformation generated by the external object A on the magnetic tactile sensing structure 10, and the next deformation α Figure 6 is the deformation generated by the external object B on the annular magnetic tactile sensing structure 10. b is the deformation generated by the external object B on the annular magnetic tactile sensing structure 10.

[0093] The specific calculation methods of the upper deformation α u and the lower deformation α b are:

[0094]

[0095]

[0096]

[0097]

[0098]

[0099] Among them, F is the external force applied to the annular Halbach array 11, a is half of the thickness of the magnetic tactile sensing structure 10, Dc is the diameter of the magnetic tactile perception structure 10 when not subjected to an external force, δ1 is the Poisson's ratio of the external object A and the external object B, δ2 is the Poisson's ratio of the flexible housing 12 on the outer surface of the annular Halbach array 11, E1 is the Young's modulus of the external object A and the external object B, E2 is the Young's modulus of the flexible housing 12 on the outer surface of the annular Halbach array 11, and G s is the weight of the magnetic tactile perception structure 10.

[0100] In one embodiment, as Figure 7 shown, the processing module 30 is specifically configured to:

[0101] S701: Obtain a first correspondence between the magnetic induction intensity at the central position of the magnetic tactile perception structure 10 and the deformation of the magnetic tactile perception structure 10, and establish a first correspondence list.

[0102] S702: Obtain the current magnetic signal to know the magnetic induction intensity at the central position of the current magnetic tactile perception structure 10.

[0103] S703: Based on the magnetic induction intensity at the central position of the current magnetic tactile perception structure 10, query the first correspondence list to determine the deformation data of the current magnetic tactile perception structure 10.

[0104] S704: Based on the theory of elasticity, calculate the magnitude of the current external force according to the deformation data of the current magnetic tactile perception structure 10.

[0105] Specifically, the processing module 30 can pre-obtain the first correspondence based on the correspondence between the deformation of the magnetic tactile perception structure 10 and the magnetic induction intensity at the central position. The first correspondence is that when the deformation is A, the magnetic induction intensity at the central position corresponds to a, and when the deformation is B, the magnetic induction intensity at the central position corresponds to b.

[0106] During tactile perception, the processing module 30 obtains the current magnetic signal to know the magnetic induction intensity at the central position of the current magnetic tactile perception structure 10. According to the obtained current magnetic induction intensity, by searching in the first correspondence list, the deformation data of the current magnetic tactile perception structure 10 can be found.

[0107] When the processing module 30 has good computing power, based on the theory of elasticity, the processing module 30 can directly calculate the magnitude of the current external force according to the deformation data of the current magnetic tactile perception structure 10.

[0108] In one embodiment, as Figure 8 shown, the magnetic field signal acquisition module 20 is specifically configured to:

[0109] S801: Collect the magnetic field signal of the magnetic tactile sensing structure 10;

[0110] S802: Convert the magnetic field signal into an electrical signal for output.

[0111] Specifically, the magnetic field signal acquisition module 20 is used to collect the magnetic field signal of the magnetic tactile sensing structure 10, that is, to obtain the magnetic induction intensity at the center position of the magnetic tactile sensing structure 10. After the magnetic field signal is collected, it is converted into an electrical signal for output, and the processing module 30 can know the magnetic induction intensity at the center position of the magnetic tactile sensing structure 10 by simply resolving the electrical signal.

[0112] In one embodiment, as Figure 9 shown, it further includes:

[0113] A display module 50, electrically connected to the processing module 30, for displaying the magnitude of the external force.

[0114] Specifically, the tactile sensing system of the robot 40 may further include a display module 50. The display module 50 can be electrically connected to the processing module 30 through a serial cable, so as to display the external force received by the robot 40 in real time, enabling the staff to see it in time.

[0115] In one embodiment, it further includes:

[0116] A speaker, electrically connected to the processing module 30, for broadcasting the magnitude of the external force.

[0117] Specifically, the tactile sensing system of the robot 40 may further include a speaker, so as to broadcast the external force received by the robot 40 in real time, enabling the staff to hear it in time.

[0118] In one embodiment, it further includes:

[0119] An alarm, electrically connected to the processing module 30, for alarming when the magnitude of the external force exceeds a preset threshold.

[0120] Specifically, the tactile sensing system of the robot 40 may further include an alarm, so that when the external force received by the robot 40 is greater than the preset threshold, an alarm is triggered. This structure can enable the staff to timely learn about the alarm situation and respond, and to a certain extent, reduce or mitigate the harm caused to the interaction object during the operation of the robot 40.

[0121] Wherein, the size of the preset threshold can be set according to the working requirements.

[0122] In one embodiment, the flexible housing 12 is made of liquid silicone rubber material.

[0123] Specifically, the liquid silicone rubber material has high elasticity and can provide good resilience after the magnetic tactile sensing structure 10 is deformed.

[0124] In one embodiment, the annular Halbach array 11 is composed of at least 8 permanent magnets.

[0125] Specifically, the annular Halbach array 11 is composed of at least 8 permanent magnets. If the number of permanent magnets is too small, it is not conducive to generating corresponding deformation when subjected to force.

[0126] The robot 40 tactile perception system provided by the present invention, through the setting of the magnetic tactile perception structure 10, on the one hand, the external force exerted on the magnetic tactile perception structure 10 can be analyzed and calculated through the change of the internal magnetic field, thereby enhancing the interpretability of the tactile perception process and making the accuracy of external force sensing higher; on the other hand, the magnetic tactile perception structure 10 includes an annular Halbach array 11, and the change of the internal magnetic field of the annular Halbach array 11 is more obvious under smaller deformation, thereby improving the sensing accuracy of the tactile perception system for tiny external forces.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot tactile perception system, characterized in that, Comprising: A magnetic tactile sensing structure, a magnetic field signal acquisition module, and a processing module; The magnetic tactile sensing structure includes an annular Halbach array composed of a plurality of permanent magnets and a flexible housing covering the outer surface of the annular Halbach array; The magnetic tactile sensing structure is disposed at the operating end of the robot and is used to generate a radial deformation under the action of an external force when the robot interacts with the environment to convert the external force into a magnetic field signal; The magnetic field signal acquisition module is disposed at the operating end of the robot and at the central position of the magnetic tactile sensing structure for acquiring the magnetic field signal of the magnetic tactile sensing structure; The processing module is electrically connected to the magnetic field signal acquisition module and is used to obtain the magnetic field signal of the magnetic tactile sensing structure to determine the magnitude of the external force based on the magnetic field signal.

2. The robot tactile perception system according to claim 1, characterized in that, Specifically, the processing module is used to: Obtain a first correspondence relationship between the magnetic induction intensity at the central position of the magnetic tactile sensing structure and the deformation of the magnetic tactile sensing structure; Calculate and obtain a second correspondence relationship between the deformation of the magnetic tactile sensing structure and the external force based on elasticity mechanics; Determine a third correspondence relationship between the magnetic induction intensity and the external force according to the first correspondence relationship and the second correspondence relationship and establish a corresponding list; Obtain the current magnetic field signal to know the magnetic induction intensity at the central position of the current magnetic tactile sensing structure; Based on the magnetic induction intensity at the central position of the current magnetic tactile sensing structure, query the corresponding list to determine the magnitude of the current external force.

3. The robot tactile perception system according to claim 1, characterized in that, Specifically, the processing module is used to: Obtain a first correspondence relationship between the magnetic induction intensity at the central position of the magnetic tactile sensing structure and the deformation of the magnetic tactile sensing structure and establish a first corresponding list; Obtain the current magnetic field signal to know the magnetic induction intensity at the central position of the current magnetic tactile sensing structure; Based on the magnetic induction intensity at the central position of the current magnetic tactile sensing structure, query the first corresponding list to determine the deformation data of the current magnetic tactile sensing structure; Based on elasticity mechanics, calculate the magnitude of the current external force according to the deformation data of the current magnetic tactile sensing structure.

4. The robot tactile perception system according to claim 1, characterized in that, Specifically, the magnetic field signal acquisition module is used to: Acquire the magnetic field signal of the magnetic tactile sensing structure; Convert the magnetic field signal into an electrical signal for output.

5. The robot tactile perception system according to any one of claims 1 to 4, characterized in that Further comprising: A display module, electrically connected to the processing module, for displaying the magnitude of the external force.

6. The robot tactile perception system according to claim 5, characterized in that, Further comprising: A speaker, electrically connected to the processing module, for broadcasting the magnitude of the external force.

7. The robot tactile perception system according to claim 5, characterized in that, Further comprising: An alarm, electrically connected to the processing module, for alarming when the magnitude of the external force exceeds a preset threshold.

8. The robot tactile perception system according to any one of claims 1 to 4, characterized in that, The flexible housing is made of liquid silicone rubber material.

9. The robot tactile perception system according to any one of claims 1 to 4, characterized in that, The annular Halbach array is composed of at least 8 permanent magnets.

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