Signal detection processing method and system using hall effect, electronic skin, robot

Abstract

The application discloses a signal detection processing method and system, an electronic skin and a robot adopting a Hall effect. The detection voltage of each Hall sensor is simultaneously sent to two independent detection units. One group of signals is X-direction signals, and the other group of signals is Y-direction signals. The X-direction signals are added and sent to an A / D port of an MCU chip. The Y-direction signals are added, converted into level signals through a zero detection circuit, and then sent to an I / O port of the MCU chip. The MCU chip collects signals of the A / D port and the I / O port, calculates and analyzes the changes of the magnetic field intensity of each point, and determines the acting point and direction of external force. The application solves the problem that the AD input port of the MCU chip cannot meet the detection requirements in high-density point detection, and realizes the detection of the softness, sensitivity and stress of the electronic skin, and has good practicability and high cost performance.

Description

Technical Field

[0001] This invention relates to humanoid robots, specifically to a signal detection and processing method, system, electronic skin, and robot employing the Hall effect. Background Technology

[0002] Electronic skin is an electronic sensing layer specifically designed for humanoid robots and prosthetic limbs, requiring high sensitivity and good flexibility.

[0003] Existing electronic skin for robots is usually achieved using capacitive or resistive touchscreen technology, both of which are rigid structures with poor simulation effects. Furthermore, the sensitivity of capacitive and resistive touch sensors is poor, and they cannot accurately reflect the magnitude and direction of the force applied. There have also been attempts to use electronic skin with liquid crystal polarization technology, but these all have different defects, making it difficult to meet practical requirements, and their cost-effectiveness is not high.

[0004] In recent years, there have been reports of research using magnetic materials to make flexible electronic skin, but there are still no practical cases. The technology for the large-scale use of flexible electronic skin in humanoid robots is still a blank. Summary of the Invention

[0005] To address the shortcomings of the existing technologies, this invention provides a signal detection and processing method, system, electronic skin, and robot that utilize the Hall effect. This invention solves the problem that the AD input port of the MCU chip cannot meet the detection requirements when performing high-density point detection, and effectively realizes the detection of the electronic skin's softness, sensitivity, and force magnitude. It has excellent practicality and high cost-effectiveness.

[0006] To achieve the above technical objectives, the present invention adopts the following technical solution: a signal detection and processing method using the Hall effect, comprising the following steps:

[0007] A matrix consisting of x1, x2, x3...xn and y1, y2, y3...ym is formed with n rows and m columns. Each matrix point is equipped with a magnetic material, and each magnetic material corresponds to a Hall sensor. The initial distance between the magnetic material and the Hall sensor is equal, and the Hall sensor can move closer to the corresponding magnetic material.

[0008] The magnetic force change between each Hall sensor and the magnetic material is received, where the magnetic force change is caused by the position change of the Hall sensor; the magnetic force change is converted into the voltage value of each matrix point, denoted as Vxiyj, where i = {1, 2, 3...n} represents the i-th row, and j = {1, 2, 3...m} represents the j-th column;

[0009] Calculate the sum of the voltage values ​​of each row of the matrix points, denoted as Vxi; determine whether Vxi is greater than zero. If Vxi is greater than zero, it means that there is pressure in the i-th row; if Vxi is equal to zero, it means that there is no pressure in the i-th row.

[0010] Calculate the sum of voltage values ​​at each column of the matrix, denoted as Vyj; determine whether Vyj is high or low, and output Voj, where Voj is high or low. A high Voj indicates that there is pressure in the j-th column, and a low Voj indicates that there is no pressure in the j-th column.

[0011] Output the position of the force point, wherein the force point is a matrix point located at the intersection of the row where Vxi is greater than zero and the column where Voj is high;

[0012] Output applied voltage, wherein the applied voltage is the pressure value of Vxi after A / D conversion.

[0013] Furthermore, when there are more than one Vxi greater than zero and only one Voj is high, determine whether the rows containing the multiple Vxi are consecutive;

[0014] If the values ​​are continuous, there is a primary force point. The multiple Vxi values ​​are then sorted by magnitude. The primary force point and the applied voltage are output. The primary force point is the matrix point where the row containing the maximum Vxi value intersects with the column containing the high-level Voj. The matrix point where the row containing the non-maximum Vxi value intersects with the column containing the high-level Voj is the secondary force point. The applied voltage is the pressure value of Vxi after A / D conversion.

[0015] If the segments are discontinuous, there are multiple main force points. Determine the number of discontinuous segments and sort each segment by the value of Vxi. Output the main force point, secondary force point, and force voltage of each segment. The main force point of each segment is the matrix point at the intersection of the row with the maximum Vxi value and the column with the high level of Voj. The matrix point at the intersection of the row with the non-maximum Vxi value and the column with the high level of Voj is the secondary force point. The force voltage of each segment is the pressure value of Vxi after A / D conversion.

[0016] Furthermore, when only one Vxi is greater than zero and more than one Voj is high, determine whether the columns containing multiple Vojs are consecutive;

[0017] If the forces are continuous, there is a primary force point. The voltage values ​​Vxiyj at multiple matrix points in the i-th row are sorted by magnitude. The primary force point and its applied voltage are output. The primary force point is the matrix point containing the maximum Vxiyj value; the matrix points containing non-maximum Vxiyj values ​​are secondary force points. The applied voltage is the pressure value of Vxi after A / D conversion.

[0018] If the segments are discontinuous, there are multiple main force points. Determine the number of discontinuous segments and sort the voltage values ​​Vxiyj of each segment. Output the main force point, secondary force point, and voltage of each segment. The main force point of each segment is the matrix point where the maximum Vxiyj value is located. The matrix points where the non-maximum Vxiyj value is located are secondary force points. The voltage of each segment is the pressure value of Vxi after A / D conversion.

[0019] Further, it is determined whether the voltage value Vxiyj of a certain matrix point is greater than zero; if it is greater than zero, it is determined whether the voltage values ​​Vxiyj of the eight matrix points adjacent to the matrix point in the row, column, and diagonal are greater than zero. If they are greater than zero, the force surface and the force voltage are output. The force surface is the surface formed by matrix points whose row, column, and diagonal voltage values ​​are consecutively adjacent to each other and are greater than zero; the force voltage is the pressure value of multiple rows of Vxi after A / D conversion.

[0020] A signal detection and processing system employing the Hall effect includes

[0021] The voltage acquisition module is used to acquire the voltage Vxiyj at each matrix point;

[0022] The row summation module is used to sum the voltage values ​​of each row to obtain Vxi;

[0023] The column summation module is used to sum the voltage values ​​of each row to obtain Vyj;

[0024] The MCU chip has an A / D port for receiving the sum of voltages Vxi of each row, and an I / O port for receiving the level signal corresponding to the sum of voltages Vyj of each column.

[0025] The row judgment module is used to determine whether the sum of the voltages Vxi in each row is greater than zero;

[0026] The column determination module determines whether the sum of voltages Vyj in each column is high or low.

[0027] The output module is used to output the force point and the force voltage based on Vxiyj, Vxi, and Vyj.

[0028] An electronic skin employing the Hall effect, comprising bones and structural tissues supporting the limbs;

[0029] The detection circuit board uses flexible FPC material, which can be attached to the outer layer of the bone. The FPC board is equipped with a Hall sensor matrix, MCU chip and other circuit components. The Hall sensor matrix and the magnetic material matrix correspond one-to-one in spatial position.

[0030] Muscle tissue, an elastic tissue attached to the bone, is located between the detection circuit board and the magnetic material;

[0031] The outer layer of skin, an elastic tissue attached to magnetic materials, is used to fix the magnetic materials and improve the feel of touch.

[0032] A robot that uses an electronic skin employing the Hall effect.

[0033] In summary, the present invention has achieved the following technical effects:

[0034] This invention solves the problem that the AD input port of the MCU chip cannot meet the detection requirements when performing high-density dot detection. It effectively realizes the detection of the softness, sensitivity and force magnitude of electronic skin, and has good practicality and high cost performance.

[0035] This invention generates an electrical signal proportional to the magnitude of the external force by using the distance change between the Hall sensor on the surface of the electronic skin and the pre-fabricated magnetic field of the bone. The direction of the force can be determined by the feedback signal of each point on the Hall sensor matrix. This invention effectively solves the problems of the softness, sensitivity and force detection of electronic skin, and has high practicality and cost performance. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the Hall sensor and magnetic material matrix provided in an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the summation circuit in the x-direction;

[0038] Figure 3 This is a schematic diagram of the sum-to-zero-crossing detection circuit in the y-direction;

[0039] Figure 4 It represents the input and output states under ideal conditions in the y-direction;

[0040] Figure 5 The input and output states of the actual state in the y-direction;

[0041] Figure 6 This is a schematic diagram showing the connection between the MCU and the x and y directions;

[0042] Figure 7 This is a schematic diagram of the cross-section of electronic skin. Detailed Implementation

[0043] The present invention will be further described in detail below with reference to the accompanying drawings.

[0044] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

[0045] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0047] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0048] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0049] Example:

[0050] A signal detection and processing method employing the Hall effect includes the following steps:

[0051] A matrix of n rows and m columns is formed by x1, x2, x3...xn and y1, y2, y3...ym. Each matrix point is fitted with a magnetic material, and each magnetic material corresponds to a Hall sensor. The initial distance between the magnetic material and the Hall sensor is equal. When subjected to external force such as pressing, the Hall sensor can move closer to its corresponding magnetic material, and may even affect the Hall sensors of nearby matrix points to move closer to their corresponding magnetic materials, resulting in a change in magnetic force at one or more matrix points. The n-row, m-column matrix can be a square matrix or a rectangular matrix. Preferably, this embodiment uses a square matrix, which can more conveniently and accurately reflect changes in magnetic force. n and m can be equal or unequal.

[0052] The system receives the magnetic force change between each Hall sensor and the magnetic material, where the magnetic force change is caused by the position change of the Hall sensor. This magnetic force change is converted into a voltage value at each matrix point, denoted as Vxiyj, where i = {1, 2, 3...n} represents the i-th row, and j = {1, 2, 3...m} represents the j-th column. That is, when one or more Hall sensors are subjected to an external force, they move closer to their corresponding magnetic material, causing a change in magnetic force. The distance between the Hall sensor and the magnetic material is proportional to the magnetic field strength that the Hall sensor can sense. For example, combining... Figure 1 When an external force is applied to point Vx2y2, the deformation of the flexible material will bring the distance between the Hall sensor at Vx2y2 and the magnetic material at Vx2y2 closer. The Hall sensor at Vx2y2 will sense a stronger magnetic field, and this change in magnetic field strength is converted into a voltage value, which is then sent to the A / D port of the MCU. Figure 6 As shown;

[0053] Calculate the sum of the voltage values ​​of each row of matrix points, denoted as Vxi; determine if Vxi is greater than zero. A Vxi greater than zero indicates that there is pressure in the i-th row, meaning that a matrix point in the i-th row is under force; a Vxi equal to zero indicates that there is no pressure in the i-th row, meaning that no matrix point in the i-th row is under force. In other words, the sum of the voltage values ​​of each row determines whether that row is under force. The sum of each row is sent to the MCU's A / D interface to determine whether that row is under force. Compared to the previous method where one A / D interface was needed for each matrix point, this embodiment only requires one A / D interface per row, greatly reducing the number of A / D interfaces, lessening the requirements on the MCU chip, and lowering costs. Figure 2The diagram shows the summation circuit for each row of voltage values. The calculation method is Vxi=Axiy1·Vxiy1+Axiy2·Vxiy2+Axiy3·Vxiy3+...+Axiym·Vxiym, where Axiy1=Rc / (Rc+Ra1)·(1+Rf), Rc is the parallel value of Ra1, Ra2, Ra3...Ram and Rq; Axiy1 is the voltage amplification function.

[0054] Calculate the sum of voltage values ​​at each column of the matrix, denoted as Vyj; determine whether Vyj is high or low, and output Voj, where Voj is high or low. A high Voj indicates pressure in the j-th column, and a low Voj indicates no pressure in the j-th column. Similar to the A / D interface for each row, the summation of one column only requires one I / O interface, reducing the requirements on the MCU chip and lowering costs. Figure 3 As shown, after summing to obtain Vyj, Vyj is input to a zero-crossing detection circuit. When Vyj is not equal to zero, a corresponding voltage Voj is output. The magnitude of Voj depends on the magnitudes of Z1 and Z2. If Vyj is less than zero, a positive state is output; if Vyj is greater than zero, a negative state is output. Figure 4 The diagram shows the input and output states under ideal conditions, as follows: Figure 5 This refers to the actual input and output states. In this embodiment, the sum of the voltages of each column is used to determine whether that column is under stress. The sum of the voltages of one column is output to an I / O port of the MCU. High and low level signals are used to determine whether stress is applied, facilitating the analysis of stress points. Figure 6 As shown.

[0055] The location of the force point is output, wherein the force point is a matrix point located at the intersection of the row where Vxi is greater than zero and the column where Voj is high. If a matrix point is subjected to force, a voltage will be generated, which is simultaneously sent to two independent detection units, one is a signal in the X direction and the other is a signal in the Y direction. After analysis, the location of the force point can be determined.

[0056] Output applied voltage, wherein the applied voltage is the pressure value of Vxi after A / D conversion.

[0057] like Figure 6As shown, if there are 20 points in the x-direction and 10 points in the y-direction, i.e., n=10 and m=20, then there are a total of 200 detection points, i.e., 200 matrix points. If all detection is done using A / D conversion, it would be very difficult for a single MCU chip to provide 200 A / D inputs, requiring many MCUs to work together to complete the detection. In this embodiment, the voltage input summing amplifier in the x-direction is used, and the voltage in the y-direction is connected to the zero-crossing detection circuit. By selecting an MCU with 10 A / D interfaces and 20 I / O interfaces, the detection requirements of the electronic skin can be met.

[0058] Furthermore, when the columns are in different rows: that is, when there are more than one Vxi greater than zero and only one Voj is high, it is determined whether the rows containing multiple Vxi are consecutive; that is, the voltage change caused by pressing the matrix point in the same column.

[0059] If the values ​​are continuous, there is a primary force point. The multiple Vxi values ​​are then sorted by magnitude. The primary force point and the applied voltage are output. The primary force point is the matrix point at the intersection of the row containing the maximum Vxi value and the column containing the high-level Voj. The matrix point at the intersection of the row containing the non-maximum Vxi value and the column containing the high-level Voj is the secondary force point. The applied voltage is the pressure value of Vxi after A / D conversion. If the values ​​are continuous, it indicates that one pressing point causes changes in multiple matrix points. In this case, the matrix point at the intersection of the row containing the maximum Vxi value and the column containing that row is the primary force point, and the remaining matrix points are secondary force points, indicating that the force change is incidental.

[0060] If the force is discontinuous, there are multiple primary force points. The number of discontinuous segments is determined, and each segment is sorted by its Vxi value. The primary force point, secondary force point, and applied voltage for each segment are output. The primary force point for each segment is the matrix point at the intersection of the row containing the maximum Vxi value and the column containing the high-level Voj value. The secondary force point is the matrix point at the intersection of the row containing the non-maximum Vxi value and the column containing the high-level Voj value. The applied voltage for each segment is the pressure value of Vxi after A / D conversion. If the force is discontinuous, it indicates that multiple positions are being pressed. These multiple positions are divided into multiple segments, and the primary force point for each segment is identified in a continuous manner, thus finding multiple primary force points and the secondary force points caused by each primary force point. This embodiment provides a method for confirming force points in the same column but different rows, enabling rapid confirmation of the force point's location.

[0061] When columns in the same row are different, similar to columns in the same column but different rows, that is, when only one Vxi is greater than zero and more than one Voj is high, determine whether the columns containing multiple Voj are continuous; if continuous, there is a main force point, and the voltage values ​​Vxiyj of multiple matrix points in the i-th row are sorted by magnitude; output the main force point and the applied voltage, where the main force point is the matrix point containing the maximum Vxiyj value; the matrix points containing non-maximum Vxiyj values ​​are secondary force points; the applied voltage is the pressure value of Vxi after A / D conversion; if discontinuous, there are multiple main force points, determine the number of discontinuous segments, and sort the voltage values ​​Vxiyj of each segment by magnitude; output the main force point, secondary force point, and applied voltage of each segment; where the main force point of each segment is the matrix point containing the maximum Vxiyj value; the matrix points containing non-maximum Vxiyj values ​​in each segment are secondary force points; the applied voltage of each segment is the pressure value of Vxi after A / D conversion. This embodiment provides a method for confirming the stress points in different columns of the same row, which can quickly confirm the location of the stress points.

[0062] When multiple force points cause a surface to be under stress: Determine if the voltage value Vxiyj of a certain matrix point is greater than zero; if it is, determine if the voltage values ​​Vxiyj of the eight adjacent matrix points (row-adjacent, column-adjacent, and diagonally adjacent) are greater than zero. If they are, output the force-bearing surface and the force voltage. The force-bearing surface is the surface formed by matrix points with consecutively adjacent row, column, and diagonal voltage values ​​Vxiyj greater than zero; the force voltage is the pressure value after A / D conversion of multiple rows of Vxi. The distribution of continuous force-bearing matrix points is used to determine which locations are under stress, thereby analyzing the direction of the force.

[0063] A signal detection and processing system employing the Hall effect includes

[0064] The voltage acquisition module is used to acquire the voltage Vxiyj at each matrix point;

[0065] The row summation module is used to sum the voltage values ​​of each row to obtain Vxi;

[0066] The column summation module is used to sum the voltage values ​​of each row to obtain Vyj;

[0067] The MCU chip has an A / D port for receiving the sum of voltages Vxi for each row, and an I / O port for receiving the level signal corresponding to the sum of voltages Vyj for each column.

[0068] The row judgment module is used to determine whether the sum of the voltages Vxi in each row is greater than zero;

[0069] The column determination module determines whether the sum of voltages Vyj in each column is high or low.

[0070] The output module is used to output the force point and the force voltage based on Vxiyj, Vxi, and Vyj.

[0071] An electronic skin employing the Hall effect, including

[0072] Skeleton 1; The skeleton is the internal structure that supports the robot body and is composed of hard non-ferromagnetic materials, including carbon fiber materials, plastic materials and non-ferromagnetic metal materials with a relatively low specific gravity.

[0073] The magnetic material 5 embedded in the surface of the muscle is arranged in a uniform matrix; the magnetic material adopts a regular sheet structure, including square, round or rectangular neodymium iron boron strong magnetic materials, and is uniformly arranged and fixed between the muscle and the skin in a regular manner.

[0074] Muscle tissue 3 is attached to the outer surface of the flexible circuit board layer of magnetic material; the muscle tissue is a flexible lining material, including elastic materials such as sponge, rubber or silicone, which constitutes the muscle tissue of the humanoid robot. The elasticity varies depending on the amount of external force that the robot is designed to withstand.

[0075] The detection circuit board 2 is made of flexible FPC material, which can adhere well to the outer surface of bone tissue. Hall sensors 4 are mounted on the upper part of the FPC flexible circuit board. The Hall sensors 4 are linear Hall sensors, which are arranged in a uniform matrix and correspond one-to-one with the magnetic materials. The sensors can be chips or smaller chip structures. The smaller the structure, the better the tactile sensation. The magnetic material matrix and the linear Hall sensor matrix correspond one-to-one. The center of each magnetic unit corresponds perpendicularly to the center of the Hall sensor, with flexible material separating them. The signal detected by the sensor is converted by the control circuit. The signal from each point is simultaneously output in two ways. One voltage signal is converted by A / D converter to detect the magnitude of the force, and the other is used as a switch signal to determine the point of application of the force.

[0076] MCU chip 7;

[0077] The outer skin layer 6 is made of a material with a certain degree of elasticity and stretchability, which is used to fix the magnetic material and improve the tactile feel during human-computer interaction.

[0078] In this embodiment, the electronic skin is composed of three main parts: bones, muscles, and skin. It generates a linear sensing signal based on changes in the distance between the skin and bones, while different muscle elastic strengths correspond to different magnitudes of external force. By employing a Hall sensor on the electronic skin's surface and a pre-fabricated magnetic field in the bones to generate an electrical signal proportional to the magnitude of the external force, and by analyzing feedback signals from points on the Hall sensor matrix, the direction of the force can be determined. This effectively solves the problems of electronic skin's softness, sensitivity, and force detection, demonstrating high practicality and cost-effectiveness.

[0079] like Figure 7 As shown, a robot employs an electronic skin utilizing the Hall effect. The distance between the Hall sensor and the neodymium iron boron (NdFeB) magnet is proportional to the magnetic field strength sensed by the Hall sensor. When an external force is applied to point A, the deformation of the flexible material causes the distance between Hall sensors a and b and the NdFeB magnet to decrease, resulting in a greater magnetic field strength sensed by Hall sensors a and b. When an external force is applied to point b, the deformation of the flexible material causes the distance between Hall sensors a, b, and c and the NdFeB magnet to decrease, with the change in distance at Hall sensor a being greater than that at Hall sensors b and c, resulting in a greater sensed magnetic field strength. Similarly, when points A, B, D, and C are subjected to forces of varying magnitudes, the distance between the Hall sensor and the NdFeB magnet changes accordingly. This is achieved through calculation and analysis of the changes in magnetic field strength at each point.

[0080] Working principle:

[0081] The distance between the Hall sensor and the neodymium iron boron magnet is directly proportional to the magnetic field strength that the Hall sensor can detect. When an external force is applied to point Vx2y2, the deformation of the flexible material will bring the distance between the Hall sensor at Vx2y2 and the neodymium iron boron magnet at Vx2y2 closer, and the magnetic field strength sensed by the Hall sensor at Vx2y2 will increase. When an external force is applied between points Vx2y2 and Vx3y3, the deformation of the flexible material will bring the distance between the Hall sensors at Vx2y2 and Vx3y3 and the corresponding neodymium iron boron magnets at those points closer, and the Hall sensors at Vx2y2 and Vx3y3 will simultaneously detect voltage changes. When different points are subjected to different magnitudes of force... When a force is applied, the distance between the Hall sensor and the neodymium iron boron magnet changes accordingly. In this detection matrix, the magnetic sheets are non-contact with the Hall sensors, and the magnetic field formed by the magnetic sheet matrix has a stable effect on each Hall sensor. Any minute change in the magnetic field matrix caused by an external force will be sensitively detected. The detection voltage of each Hall sensor is simultaneously sent to two independent detection units: one set of signals in the X direction and one set of signals in the Y direction. The X-direction signals are summed and sent to the A / D port of the MCU chip, while the Y-direction signals are summed, converted into level signals by a zero-detection circuit, and then sent to the I / O port of the MCU chip. By acquiring signals from the A / D port and the I / O port, the MCU chip calculates and analyzes the changes in magnetic field strength at each point, thus determining the point and direction of application of the external force. Since the elastic force of the flexible layer of muscle tissue is known, and the deformation is proportional to the external force, the specific magnitude of the external force can be determined. When multiple Hall sensors simultaneously detect changes in information, it can be determined that a surface is under force. By analyzing the different magnitudes of signals sensed by different Hall sensors within this surface, the magnitude of the force at different points on the surface can be determined, thus further analyzing the nature of the force. When the external force disappears, the Hall sensors return to their original positions under the action of muscle elastic force.

[0082] The MCU component located on the FPC board connects to all Hall sensors, converts the analog signals generated by the Hall sensors into digital signals, and performs force analysis. It communicates with the host computer via serial port and reports the force analysis data to the host computer. Through the coordinated work of the entire arm structure, it constitutes the detection of external forces.

[0083] Specific examples:

[0084] When the magnetic sheet at coordinate point Vx2y2 is deformed by an external force, Vx2 outputs a voltage detection value greater than 0V, while Vy2 outputs a zero-crossing detection high-level signal. Based on these two signals, the MCU chip can determine the point of force application as Vx2y2. Simultaneously, by performing an A / D conversion on the voltage output greater than 0V from Vx2, a pressure value with a resolution of 8-bit or 12-bit can be obtained. This pressure value is proportional to the change in distance between the magnetic sheet and the Hall sensor when the magnetic sheet deforms. If the elastic coefficient of the flexible insulating material between the magnetic sheet and the Hall sensor is known, the magnitude of the external force can be calculated. If the external force is large and triggers multiple surrounding detection points simultaneously, the center point or area of ​​the force application can be easily detected and analyzed based on the above principle. In practical applications, a more accurate analysis will be conducted based on the density of the detection units and the degree of mutual influence of magnetic field changes on each Hall sensor. This includes calculating the maximum voltage change of n points and the average force of n points when the maximum voltage change of each unit is known; and establishing a mathematical model for analyzing and judging the force state and center position of two or more points after knowing the critical value of the force on the surrounding points of a single point.

[0085] This invention, taking into account the structural characteristics of humanoid robots, proposes using flexible materials as the skin and isolation layer. An electronic skin is constructed by employing a high-density, uniformly distributed matrix of point-like magnetic materials and a corresponding Hall sensor matrix. The main challenge of this design is that each detection point requires an AD input port of an MCU chip. Taking a humanoid robot's forearm as an example, at least 10×20 skin detection points are needed, requiring 200 AD input ports. This makes selecting the right MCU chip very difficult, increasing both hardware costs and design complexity. Therefore, this embodiment proposes a detection circuit combining AD detection and zero-crossing detection, solving the problem of insufficient AD input ports of the MCU chip for high-density point-like detection. This effectively addresses the detection of the electronic skin's flexibility, sensitivity, and force magnitude, demonstrating excellent practicality and high cost-effectiveness.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the scope of the technical solution of the present invention.

Claims

1. A signal detection and processing method employing the Hall effect, characterized in that: Includes the following steps: A matrix consisting of x1, x2, x3...xn and y1, y2, y3...ym is formed with n rows and m columns. Each matrix point is equipped with a magnetic material, and each magnetic material corresponds to a Hall sensor. The initial distance between the magnetic material and the Hall sensor is equal, and the Hall sensor can move closer to the corresponding magnetic material. The magnetic force change between each Hall sensor and the magnetic material is received, where the magnetic force change is caused by the position change of the Hall sensor; the magnetic force change is converted into the voltage value of each matrix point, denoted as Vxiyj, where i={1,2,3...n} represents the i-th row and j={1,2,3...m} represents the j-th column; Calculate the sum of the voltage values ​​of each row of the matrix points, denoted as Vxi; determine whether Vxi is greater than zero. If Vxi is greater than zero, it means that there is pressure in the i-th row; if Vxi is equal to zero, it means that there is no pressure in the i-th row. Calculate the sum of voltage values ​​at each column of the matrix, denoted as Vyj; determine whether Vyj is high or low, and output Voj, where Voj is high or low. A high Voj indicates that there is pressure in the j-th column, and a low Voj indicates that there is no pressure in the j-th column. Output the position of the force point, wherein the force point is a matrix point located at the intersection of the row where Vxi is greater than zero and the column where Voj is high; The output force voltage is the pressure value of Vxi after A / D conversion. When there are more than one Vxi greater than zero and only one Voj is high, determine whether the rows containing the multiple Vxi are consecutive. If the values ​​are continuous, there is a primary force point. The multiple Vxi values ​​are then sorted by magnitude. The primary force point and the applied voltage are output. The primary force point is the matrix point where the row containing the maximum Vxi value intersects with the column containing the high-level Voj. The matrix point where the row containing the non-maximum Vxi value intersects with the column containing the high-level Voj is the secondary force point. The applied voltage is the pressure value of Vxi after A / D conversion. If the segments are discontinuous, there are multiple main force points. Determine the number of discontinuous segments and sort each segment by the value of Vxi. Output the main force point, secondary force point, and force voltage of each segment. The main force point of each segment is the matrix point at the intersection of the row with the maximum Vxi value and the column with the high level of Voj. The matrix point at the intersection of the row with the non-maximum Vxi value and the column with the high level of Voj is the secondary force point. The force voltage of each segment is the pressure value of Vxi after A / D conversion.

2. The signal detection and processing method using the Hall effect according to claim 1, characterized in that: When only one Vxi is greater than zero and more than one Voj is high, determine whether the columns containing multiple Voj are consecutive. If the forces are continuous, there is a primary force point. The voltage values ​​Vxiyj at multiple matrix points in the i-th row are sorted by magnitude. The primary force point and its applied voltage are output. The primary force point is the matrix point containing the maximum Vxiyj value; the matrix points containing non-maximum Vxiyj values ​​are secondary force points. The applied voltage is the pressure value of Vxi after A / D conversion. If the segments are discontinuous, there are multiple main force points. Determine the number of discontinuous segments and sort the voltage values ​​Vxiyj of each segment. Output the main force point, secondary force point, and voltage of each segment. The main force point of each segment is the matrix point where the maximum Vxiyj value is located. The matrix points where the non-maximum Vxiyj value is located are secondary force points. The voltage of each segment is the pressure value of Vxi after A / D conversion.

3. The signal detection and processing method using the Hall effect according to claim 1, characterized in that: Determine whether the voltage value Vxiyj of a certain matrix point is greater than zero; if it is greater than zero, determine whether the voltage values ​​Vxiyj of the eight matrix points adjacent to the matrix point in the row, column, and diagonal are greater than zero. If they are greater than zero, output the force surface and the force voltage. The force surface is the surface formed by matrix points whose row, column, and diagonal voltage values ​​are consecutively adjacent to each other and are greater than zero. The force voltage is the pressure value of multiple rows of Vxi after A / D conversion.

4. A signal detection and processing system employing the Hall effect, characterized in that: Applied to a signal detection and processing method employing the Hall effect as described in any one of claims 1-3, comprising: The voltage acquisition module is used to acquire the voltage value Vxiyj of each matrix point; The row summation module is used to sum the voltage values ​​of each row of the matrix to obtain Vxi; The column summation module is used to sum the voltage values ​​of each column of the matrix to obtain Vyj; The MCU chip has an A / D port for receiving the sum of voltage values ​​Vxi of each row of matrix points, and an I / O port for receiving the level signal corresponding to the sum of voltage values ​​Vyj of each column of matrix points. The row judgment module is used to determine whether the sum of the voltage values ​​Vxi of each row of matrix points is greater than zero; The column judgment module is used to determine whether the sum of the voltage values ​​Vyj of each column matrix point is high or low. The output module is used to output the applied voltage based on Vxiyj, Vxi, and Vyj.

5. An electronic skin employing the Hall effect, characterized in that: Applied to a signal detection and processing system employing the Hall effect as described in claim 4, comprising: Bones are the structural tissues that support the limbs; The detection circuit board uses flexible FPC material, which can be attached to the outer layer of the bone. The FPC board is equipped with a Hall sensor matrix and an MCU chip. The Hall sensor matrix and the magnetic material matrix correspond one-to-one in spatial position. Muscle tissue, an elastic tissue attached to the bone, is located between the detection circuit board and the magnetic material; The outer layer of skin, an elastic tissue attached to magnetic materials, is used to fix the magnetic materials and improve the feel of touch.

6. A robot, characterized in that: An electronic skin employing the Hall effect as described in claim 5 is used.

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