Scalable single-line signal acquisition system and method for large-area tactile perception of intelligent robots

Abstract

The present invention discloses an expandable single-line signal acquisition system and method for large-area tactile perception of intelligent robots. The method of the present invention first utilizes each sensor node to respectively acquire a tactile force signal and generates a tactile coding signal according to the corresponding basic coding signal, then uses an inverting adder to perform addition calculation on the tactile coding signals generated by N sensor nodes to obtain a superposition signal, and finally decodes the superposition signal according to the basic coding signal corresponding to each sensor node to obtain a decoded digital signal corresponding to each sensor node as the acquisition result; in the system of the present invention, all sensor nodes are connected by a single signal line and output a superposition signal. The present invention transmits through a single lead, which greatly reduces the number of leads of the sensor array, improves the acquisition speed, fundamentally solves the signal crosstalk problem, and has a stronger anti-interference ability.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent robots, and in particular relates to an expandable single-line signal acquisition system and method for large-area tactile perception of intelligent robots. Background Art

[0002] Driven by technological advancements such as artificial intelligence and the Internet of Things, intelligent robots are continuously developing and have become a vital component in manufacturing, service, underwater operations, and the military. Flexible tactile electronic skin can provide robots with tactile information such as force, vibration, and the characteristics of objects in contact, significantly promoting the integrated interaction between humans, machines, and the environment. As robotic applications continue to expand, the requirements for intelligent robots to perceive complex environments are increasing. Limited tactile perception in localized areas, such as manipulators and arms, cannot meet the embodied perception needs of next-generation intelligent robots. A tactile perception system that covers the entire robot's body, similar to human skin, provides a medium for seamless interaction between intelligent robots and the environment and is the key to achieving embodied tactile perception.

[0003] Most current flexible tactile sensor arrays are based on a time-domain row-column scanning architecture, where a P×P sensor array acquires data using 2P leads. When tactile sensing systems are expanded over large areas, the increased number of sensor units results in a significant number of leads, complicating the sensing system structure and subsequent signal processing circuit design. Furthermore, the time-domain row-column scanning architecture sequentially acquires tactile signals from each unit using a time-sharing addressing method. The reuse of row and column electrodes inevitably generates signal crosstalk, and as the number of sensor units increases, the acquisition speed of each unit decreases rapidly, resulting in high sampling latency and poor accuracy. Traditional time-domain row-column scanning architectures cannot meet the demands of large-scale tactile sensing systems in terms of both sensor area and number of nodes. Therefore, to address the large-scale embodied tactile sensing challenges faced by next-generation general-purpose intelligent robots, it is necessary to research new tactile sensing system architectures with high scalability and fast sampling speeds. Summary of the Invention

[0004] To address the problems presented in the aforementioned background technology, the present invention proposes a scalable single-wire signal acquisition system and method for large-area tactile perception in intelligent robots. The scalable single-wire signal acquisition system not only enables single-channel signal transmission for large-area sensor arrays, but also significantly reduces the number of leads, simplifying the structure of the large-area sensing system and the design of the signal acquisition circuit. The acquisition method of the present invention exhibits good scalability over large areas, and the sampling speed does not decrease rapidly with the increase in the number of sensor units.

[0005] The technical solution adopted in the present invention is as follows:

[0006] (1) A scalable single-line signal acquisition method for large-area tactile perception of intelligent robots

[0007] The collection method comprises the following steps:

[0008] S1) N basic coding signals are configured for N distributed sensor nodes respectively, and tactile force signals are collected by each sensor node to obtain the tactile force signals corresponding to each sensor node. Then, N tactile coding signals are generated according to the tactile force signals corresponding to the N sensor nodes. The process of generating the tactile coding signal according to the tactile force signal corresponding to each sensor node is as follows: first, an analog voltage signal is generated according to the tactile force signal, then the analog voltage signal is converted into an original digital signal, and finally, the original digital signal is encoded into a tactile coding signal using the basic coding signal corresponding to the sensor node.

[0009] In step S1), the basic coding signals corresponding to all sensor nodes are digital pulse signals with the same period, the same pulse length and the same pulse amplitude; the basic coding signal corresponding to each sensor node has N minimum components, each minimum component represents a binary digit, and the binary digits represented by all minimum components constitute a binary coding vector corresponding to the sensor node, and the binary coding vectors corresponding to all sensor nodes are different and orthogonal to each other (that is, the inner product of the binary coding vectors corresponding to any two sensor nodes is 0).

[0010] In the step S1), the original digital signal corresponding to each sensor node represents a binary digital string mainly composed of M-bit binary digits.

[0011] In step S1), the process of encoding the original digital signal into a tactile coding signal using the basic coding signal corresponding to the sensor node is specifically as follows: encoding the M binary digits represented by the original digital signal according to the basic coding signal corresponding to the sensor node, thereby generating M corresponding tactile coding segments; then, sequentially splicing the M tactile coding segments from the high bit to the low bit of the original digital signal to generate a tactile coding signal. The tactile coding signal corresponding to the sensor node is a digital pulse signal having M·N minimum components. The process of encoding each binary digit and generating a corresponding tactile coding segment is specifically as follows: if the binary digit is 0, an inverted basic coding signal is generated as the tactile coding segment; if the binary digit is 1, the basic coding signal is generated as the tactile coding segment.

[0012] The period of the basic coding signal is the total duration of the basic coding signal, and the total duration specifically refers to the total time from the first minimum component of the basic coding signal to the end of the last minimum component. The minimum component refers to a bit in the digital pulse signal. Taking the binary 1 and 0 sequences as an example, each minimum component represents 0 or 1. If the level state of the bit is high, the binary digit represented by the minimum component is 1. If the level state of the bit is low, the binary digit represented by the minimum component is 0. Furthermore, the binary sequence can also be other even-number binary sequences, such as binary 1 and -1 sequences, that is, each minimum component represents -1 (low potential) or 1 (high potential).

[0013] The pulse length of the basic coding signal is the duration of any minimum component in the basic coding signal. The pulse length mainly affects the signal transmission speed of the expandable single-line signal acquisition system.

[0014] The pulse amplitude of the basic coding signal is the difference between the high and low potentials of the basic coding signal, which mainly affects the signal acquisition accuracy of the expandable single-line signal acquisition system.

[0015] S2) Using an inverting adder, performing addition calculation on the N tactile coding signals to obtain a superposition signal.

[0016] S3) decoding the superimposed signal according to the basic coding signal corresponding to each sensor node to obtain a decoded digital signal corresponding to each sensor node, wherein the decoded digital signal corresponding to each sensor node corresponds to the original digital signal, and finally the decoded digital signal corresponding to each sensor node is used as the scalable single-line signal acquisition result.

[0017] In the step S3), the decoded digital signal corresponding to each sensor node represents a binary digital string mainly composed of M-bit binary digits.

[0018] The process of step S3) is specifically as follows:

[0019] S3.1) Splitting the superimposed signal in time sequence according to the period of the basic coded signal to obtain M superimposed signal segments;

[0020] S3.2) Each superimposed signal segment is further time-sequenced to obtain N sampling points and their corresponding sampling values, and the sampling values ​​corresponding to each sampling point are combined into a decoding vector according to the position of the sampling point in the superimposed signal segment;

[0021] S3.3) Calculate a decoded digital signal corresponding to each sensor node by combining the decoding vectors corresponding to the M superimposed signal segments and the binary encoding vector represented by the base encoding signal corresponding to each sensor node;

[0022] In step S3.3), the process of calculating and obtaining the decoded digital signal corresponding to each sensor node is specifically as follows: performing inner product of the decoding vector corresponding to each superimposed signal segment with the binary coding vector respectively to obtain the inner product value corresponding to each superimposed signal segment, and obtaining the corresponding decoding result component according to the inner product value corresponding to each superimposed signal segment; combining the decoding result components corresponding to each superimposed signal segment into a decoding result vector according to the position of the superimposed signal segment in the superimposed signal, and generating the decoded digital signal corresponding to the sensor node according to the decoding result vector.

[0023] Among them, the process of obtaining the corresponding decoding result component according to the inner product value corresponding to each superimposed signal segment is specifically as follows: if the inner product value corresponding to the superimposed signal segment is positive, the decoding result component corresponding to the superimposed signal segment is 1; if the inner product value corresponding to the superimposed signal segment is negative, the decoding result component corresponding to the superimposed signal segment is 0.

[0024] (2) A scalable single-line signal acquisition system for large-area tactile perception of intelligent robots

[0025] The expandable single-line signal acquisition system includes a signal encoding end, which is used to collect tactile force signals at N different positions and generate N tactile coding signals; the signal encoding end includes N distributed sensing nodes, each sensing node corresponds to a basic coding signal, and each sensing node is used to collect tactile force signals and generate corresponding tactile coding signals.

[0026] The expandable single-line signal acquisition system includes a single-line transmission channel for receiving tactile coding signals from N sensor nodes and superimposing all tactile coding signals to generate a superimposed signal;

[0027] The expandable single-line signal acquisition system includes a decoding end for receiving a superimposed signal and decoding the superimposed signal according to a basic coding signal corresponding to each sensor node to obtain a decoded digital signal corresponding to each sensor node.

[0028] In the signal encoding end, the sensing node is mainly composed of a tactile sensing unit, a node AD acquisition chip and a signal encoder; the tactile sensing unit is used to collect the tactile force signal at the location of the sensing node itself and generate an analog voltage signal based on the tactile force signal; the node AD acquisition chip is used to receive the analog voltage signal and convert the analog voltage signal into an original digital signal and then output it to the signal encoder, and the input end of the local AD acquisition chip is connected to the output end of the tactile sensing unit; the signal encoder is used to receive the original digital signal, encode the original digital signal into a tactile coding signal using the basic coding signal corresponding to the sensing node, and output the tactile coding signal to a single-line transmission channel; the input end of the signal encoder is connected to the output end of the node AD acquisition chip, and the output end of the signal encoder is connected to the signal transmission lead in the single-line transmission channel.

[0029] The tactile sensing unit collects the tactile force signal of its own position through pressure sensing mechanisms such as piezoelectric effect, capacitance effect and triboelectric effect, and generates an analog voltage signal according to the tactile force signal.

[0030] The single-line transmission channel includes an inverting adder and a signal transmission lead. The signal transmission lead is used to receive the tactile coding signals corresponding to each sensor node and transmit them to the inverting adder. The output end of each sensor node is communicatively connected to the signal transmission lead. The inverting adder is used to perform an addition calculation on N tactile coding signals to obtain a superimposed signal and output the superimposed signal to the decoding end. The input end of the inverting adder is communicatively connected to the output end of the signal transmission lead, and the output end of the inverting adder is communicatively connected to the decoding end.

[0031] Specifically, the signal transmission lead passes through each sensor node in sequence according to a preset route and is connected to the output terminal of the sensor node, and finally connected to the input terminal of the inverting adder. Through this layout, the present invention achieves the purpose of data output through only one signal transmission lead.

[0032] The decoding end includes a reverse decoder, which includes an AD acquisition chip. The reverse decoder collects the superimposed signal through the AD acquisition chip and splits the superimposed signal into M superimposed signal segments. Each superimposed signal segment is then time-sequentially split to obtain N sampling points and sampling values ​​corresponding to each sampling point. A decoding vector is obtained based on the N sampling points and the sampling values ​​corresponding to each sampling point. The decoding vector is combined with a binary coding vector represented by a basic coding signal corresponding to each sensor node to calculate a decoded digital signal corresponding to each sensor node.

[0033] (III) Application of a scalable single-line signal acquisition system for large-area tactile perception of intelligent robots

[0034] The expandable single-line signal acquisition system can be used for tactile perception of intelligent robots, especially for large-area tactile perception.

[0035] The tactile force mentioned in the present invention refers to the pressure exerted by an object on the tactile sensing unit.

[0036] In the acquisition system of the present invention, the number of sensor nodes can be arbitrarily expanded according to the layout area and application requirements. By digitally encoding the tactile sensor node signals, all sensor nodes are connected to a single signal line and output superimposed signals. The signals of each sensor node can be losslessly reconstructed by reverse decoding at the decoding end. Compared with the traditional time-domain row and column scanning acquisition architecture, all node signal encodings are superimposed and transmitted through a single lead, which greatly reduces the number of leads of the sensor array, improves the acquisition speed, fundamentally solves the signal crosstalk problem, and has stronger anti-interference ability. At the same time, the design space of the sensor array structure is increased, and it is no longer limited to the traditional P×P rectangular shape. It can be designed into any shape in combination with loading requirements and spatial layout. It is more suitable for large-area tactile electronic skin perception of intelligent robots with a large number of sensor units.

[0037] The beneficial effects of the present invention are as follows:

[0038] 1. The scalable single-line signal acquisition system adopted by the present invention not only realizes single-channel signal transmission of large-area sensing arrays, but also greatly reduces the number of leads, simplifying the structure of the large-area sensing system and the signal acquisition circuit design.

[0039] 2. In the scalable single-line signal acquisition method provided by the present invention, a set of orthogonal vectors are used to encode the signals of each sensor node. This acquisition method has good large-area scalability, and the sampling speed will not slow down rapidly with the increase in the number of sensor units, fundamentally eliminating the signal crosstalk between the sensor units in the traditional array.

[0040] 3. In the scalable single-line signal acquisition system adopted by the present invention, its digital coding process can achieve lossless signal reconstruction compared with frequency domain coding and time domain coding, and is applicable to tactile sensing units of different principles (capacitive, piezoresistive, triboelectric, piezoelectric, etc.), and can achieve large-area multimodal perception without the need for complex multi-principle signal acquisition circuits. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the expandable single-line signal acquisition system of the present invention;

[0042] Figure 2 is a schematic diagram of the tactile signal encoding process of the present invention;

[0043] Figure 3It is a schematic diagram of the coding signal characteristics of the present invention;

[0044] Figure 4 This is a structural example diagram of the present invention for a tactile sensing array. DETAILED DESCRIPTION

[0045] In order to make the purpose and technical solutions of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for explaining this application and are not intended to limit this application. The embodiments of the present invention are further described below with reference to the accompanying drawings.

[0046] The specific embodiments of the present invention are as follows:

[0047] 1. The structure of the expandable single-line signal acquisition system in the present invention is as follows Figure 1 As shown, specifically:

[0048] The expandable single-line signal acquisition system includes a signal encoding end, which is used to collect tactile force signals at N different positions and generate N tactile coding signals; the signal encoding end includes N distributed sensor nodes, each sensor node is correspondingly configured with a basic coding signal, and each sensor node is used to collect the tactile force signal at its own position and generate a corresponding tactile coding signal based on the collected tactile force signal.

[0049] Among them, the i-th sensor node is used to collect the tactile force signal at its own location and generate its own corresponding tactile coding signal V i Specifically, the i-th sensor node collects the tactile force signal and generates an analog voltage signal according to the tactile force signal. After converting the analog voltage signal into the original digital signal, the original digital signal is encoded into the tactile coding signal V using the basic coding signal corresponding to the sensor node. i .

[0050] Specifically, the collection and encoding processes of different sensor nodes are independent of each other.

[0051] The expandable single-line signal acquisition system also includes a single-line transmission channel, which is used to receive N tactile coding signals and superimpose all tactile coding signals to generate a superposition signal V out Among them, V out =-(V1+V2+…V n ).

[0052] The scalable single-line signal acquisition system also includes a decoding end, which receives the superimposed signal and decodes it based on the basic coded signal corresponding to each sensor node to obtain a decoded digital signal corresponding to each sensor node. The decoded digital signal corresponding to the same sensor node corresponds to the original digital signal.

[0053] Specifically, the sensor nodes are arranged at different positions, and the structures of the sensor nodes are the same.

[0054] Specifically, each sensing node is mainly composed of a tactile sensing unit, a node AD acquisition chip and a signal encoder. The tactile sensing unit is used to collect the tactile force signal at the location of the sensing node itself, and generate an analog voltage signal based on the tactile force signal and output it to the node AD acquisition chip. The node AD acquisition chip is used to receive the analog voltage signal and convert the analog voltage signal into an original digital signal and then output it to the signal encoder. The input end of the local AD acquisition chip is connected to the output end of the tactile sensing unit. The signal encoder is used to receive the original digital signal, encode the original digital signal into a tactile coding signal using the basic coding signal corresponding to the sensing node, and output the tactile coding signal to a single-line transmission channel. The input end of the signal encoder is connected to the output end of the node AD acquisition chip, and the output end of the signal encoder is connected to the signal transmission lead in the single-line transmission channel.

[0055] Furthermore, the tactile sensing unit collects the tactile force signal of its own position through pressure sensing mechanisms such as piezoelectric effect, capacitance effect and triboelectric effect, and generates an analog voltage signal according to the tactile force signal.

[0056] Furthermore, the signal encoder of the sensing node can be any programmable circuit or micro single-chip microcomputer. Considering the overall flexibility and spatial resolution of the flexible tactile sensing array, a chip with a small package size should be selected as much as possible.

[0057] Specifically, the single-line transmission channel includes an inverting adder and a signal transmission lead. The signal transmission lead is used to receive the tactile coding signals corresponding to each sensor node and transmit them together to the inverting adder. The output end of each sensor node is communicatively connected to the signal transmission lead. The inverting adder is used to perform addition calculation on the N received tactile coding signals to obtain a superposition signal V out And superimpose the signal V out Output to the decoding end; the input end of the inverting adder is communicatively connected to the output end of the signal transmission lead, and the output end of the inverting adder is communicatively connected to the decoding end.

[0058] Furthermore, the signal transmission lead passes through each sensor node in sequence according to a preset route and is connected to the output terminal of the sensor node, and finally connected to the input terminal of the inverting adder. Through this layout, the present invention achieves the purpose of data output through only one signal transmission lead.

[0059] Specifically, the decoding end includes a reverse decoder, which includes an AD acquisition chip. The reverse decoder is used to split the superimposed signal into M superimposed signal segments, then perform time-sequential decomposition on each superimposed signal segment to obtain N sampling points and the corresponding sampling values ​​of each sampling point. Based on the N sampling points and the corresponding sampling values, a decoding vector is obtained. The decoding vector is combined with the binary coding vector represented by the basic coding signal corresponding to each sensor node to calculate the decoded digital signal corresponding to each sensor node.

[0060] Furthermore, the scalable single-line signal acquisition system of the present invention can be used for tactile perception in intelligent robots, especially for large-area tactile perception. Specifically, N distributed sensor nodes are arranged at different locations on the intelligent robot. The signal transmission lead passes through each sensor node in sequence according to the numbering order of each sensor node or a preset layout, and is connected to the output of the sensor node and finally to the input of an inverting adder.

[0061] Specifically, the tactile force refers to the pressure exerted by an object on a tactile sensing unit in a sensing node.

[0062] 2. The scalable single-line signal acquisition method using the above-mentioned scalable single-line signal acquisition system specifically includes the following steps:

[0063] S1) configuring N basic coding signals for each of N distributed sensing nodes at the signal encoding end, using each sensing node to respectively collect a tactile force signal at the location of the sensing node to obtain a tactile force signal corresponding to each sensing node; and generating N tactile coding signals according to the tactile force signals corresponding to the N sensing nodes;

[0064] Among them, the process of generating a tactile coding signal according to the tactile force signal corresponding to each sensor node is specifically as follows: first, an analog voltage signal is generated according to the tactile force signal, then the analog voltage signal is converted into an original digital signal, and finally, the original digital signal is encoded into a tactile coding signal using the basic coding signal corresponding to the sensor node.

[0065] The original digital signal corresponding to each sensor node represents a binary digital string mainly composed of M binary digits.

[0066] The process of encoding the original digital signal corresponding to each sensor node into a tactile coding signal using the basic coding signal corresponding to each sensor node is as follows: Figure 2As shown, specifically: First, the M-bit binary digit represented by the original digital signal is encoded according to the basic coding signal corresponding to the sensor node, generating M corresponding tactile coding segments. Next, the M tactile coding segments are time-sequentially spliced ​​from the highest bit to the lowest bit of the original digital signal to generate a tactile coding signal. The tactile coding signal is a digital pulse signal with M·N minimum components. It should be noted that "M·N" here refers to the product of M and N. If the original digital signal represents a 12-bit binary digit and the number of sensor nodes N is 5, the tactile coding signal is a digital pulse signal with 12×5=60 minimum components. In addition, the high-to-low bit of the original digital signal means that the highest bit of the original digital signal is encoded first, and then the encoding is completed bit by bit until the lowest bit is completed. For example, in a 12-bit binary number 110011010010, the highest bit is the leftmost 1 and the lowest bit is the rightmost 0. The tactile coding segments corresponding to each bit are spliced ​​in order from left to right to obtain the final tactile coding signal.

[0067] The process of encoding each binary digit and generating a corresponding tactile coding segment is as follows: if the binary digit is 0, an inverted basic coding signal is generated as the tactile coding segment; if the binary digit is 1, a basic coding signal is generated as the tactile coding segment.

[0068] Specifically, if Figure 3 As shown, the basic coding signals corresponding to all sensor nodes ( Figure 3 The coding signal i in refers to the basic coding signal corresponding to the i-th sensor node) is a digital pulse signal with the same period, the same pulse length and the same pulse amplitude.

[0069] Specifically, if Figure 3 As shown, the basic coding signal corresponding to each sensor node has N minimum components, each minimum component represents a binary digit, and the binary digit represented by each minimum component is used as an element in the binary coding vector. N binary digits constitute a binary coding vector corresponding to the sensor node, and the binary coding vectors corresponding to all sensor nodes are different and orthogonal to each other (that is, the inner product is 0).

[0070] The period of the basic coding signal is the total duration of the basic coding signal. The total duration specifically refers to the total time from the first minimum component to the last minimum component of the basic coding signal.

[0071] Among them, the minimum component refers to a bit in the digital pulse signal. Taking the binary 1 and 0 sequence as an example (it can also be other even-number binary sequences, such as 1 and -1), if the level state of the bit is high, the binary number represented by the minimum component is 1; if the level state of the bit is low, the binary number represented by the minimum component is 0. Figure 3 The figure shows a digital pulse signal with 15 minimum components. Taking the binary sequence of 1 and 0 as an example, the binary digits represented by the 15 minimum components in this digital pulse signal form a binary code vector, which is [1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0]. Taking the binary sequence of 1 and -1 as an example, the binary code vector corresponding to this digital pulse signal is [1, -1, 1, -1, -1, 1, -1, -1, -1, -1, 1, -1, 1, -1].

[0072] Among them, Figure 3 As shown, the pulse length of the basic coding signal is the duration of any minimum component in the basic coding signal. The pulse length mainly affects the signal transmission speed of the scalable single-line signal acquisition system.

[0073] Among them, Figure 3 As shown, the pulse amplitude of the basic coding signal is the difference between the high and low potentials of the basic coding signal, which mainly affects the signal acquisition accuracy of the expandable single-line signal acquisition system.

[0074] Each original digital signal represents a binary digital string mainly composed of M binary digits. Figure 2 : The figure shows 8 binary digits represented by the original digital signal of sensor node i. For example, the 8 binary digits in the binary digital string corresponding to sensor node 1 are "10110101", and the 8 binary digits in the binary digital string corresponding to sensor node 2 are "01001110".

[0075] S2) using an inverting adder to perform addition calculation on the N tactile coding signals to obtain a superposition signal;

[0076] S3) decoding the superimposed signal according to the basic coding signal corresponding to each sensor node to obtain a decoded digital signal corresponding to each sensor node, and finally using the decoded digital signal corresponding to each sensor node as the expandable single-line signal acquisition result.

[0077] The decoded digital signal corresponding to each sensor node corresponds to the original digital signal, and the decoded digital signal corresponding to each sensor node represents a binary digital string mainly composed of M binary digits.

[0078] The process of step S3) is as follows Figure 2 As shown, specifically:

[0079] S3.1) Splitting the superimposed signal in time sequence according to the period of the basic coded signal to obtain M superimposed signal segments;

[0080] S3.2) Each superimposed signal segment is then time-sequenced to obtain N sampling points and their corresponding sampling values, and the N sampling values ​​are combined into a decoding vector according to the position of the corresponding sampling point in the superimposed signal segment;

[0081] The numerical value corresponding to each minimum component constitutes an element in the decoding vector, and the position of the numerical value corresponding to each minimum component in the decoding vector corresponds to the position of the minimum component in the superimposed signal segment;

[0082] S3.3) Calculate a decoded digital signal corresponding to each sensor node by combining the decoding vectors corresponding to the M superimposed signal segments and the binary encoding vector represented by the base encoding signal corresponding to each sensor node;

[0083] Among them, the process of calculating the decoded digital signal corresponding to each sensor node by combining the decoding vectors corresponding to the M superimposed signal segments and the binary coding vector represented by the basic coding signal corresponding to each sensor node is specifically as follows: the decoding vector corresponding to each superimposed signal segment is inner-producted with the binary coding vector corresponding to the sensor node to obtain the inner product value corresponding to each superimposed signal segment. If the inner product value is positive, the decoding result component corresponding to this superimposed signal segment is 1, otherwise it is 0. Due to the orthogonality between the binary coding vectors, the decoding result components of the M superimposed signal segments are combined into a decoding result vector according to the positions of their corresponding superimposed signal segments in the superimposed signal, and the decoding digital signal corresponding to the sensor node is generated according to the decoding result vector.

[0084] To more clearly illustrate the process of the invention's scalable single-line signal acquisition method, the following will be combined with Figure 1 and Figure 2 The encoding and decoding process of this method is further explained.

[0085] like Figure 2 As shown, the basic coding signal corresponding to all sensor nodes is a set of binary digital pulse signals of the same length. The basic coding signal corresponding to each sensor node has N minimum components, each of which represents a binary digit (for example, "[A1, A2, A3, ..., A n ]”), the binary digits represented by all the smallest components form a binary code vector (for example, “[A1, A2, A3, …, A n]”), the binary code vectors represented by all basic coding signals are different and orthogonal to each other (i.e., the inner product is 0). The code vector corresponding to each node can be expressed as:

[0086] Sensor node 1: [A1, A2, A3, …, A n ];

[0087] Sensor node 2: [B1, B2, B3, ..., B n ];

[0088] Sensor node 3: [C1, C2, C3, ..., C n ];

[0089] …

[0090] Sensor node n: [K1, K2, K3, ..., K n ].

[0091] During the acquisition process, each sensor node generates an original digital signal. For example, the original digital signal has 12 bits ( Figure 2 Only 8 bits of the binary number are shown in the figure. During the encoding process, the signal encoder splits and encodes the binary tactile raw digital signal generated by the node AD acquisition chip bit by bit. If the binary number is 1, the encoded signal is the N-bit basic encoded signal itself. If the binary number is 0, the encoded signal is the inverted N-bit encoded signal (high and low levels are swapped). Therefore, each tactile raw signal is encoded into a digital pulse signal composed of 12N minimum components. The acquisition and encoding processes of each sensor node are independent of each other.

[0092] like Figure 2 As shown in the figure, the original digital signal of sensor node 1 is first split into eight binary numbers, namely: 1, 0, 1, 1, 0, 1, 0, 1. If any binary number is "1", the tactile code segment generated by encoding is represented as "[A1, A2, A3, ..., A n ]"; if any binary number is "0", the generated tactile code segment is represented as "[-A1, -A2, -A3, ..., -A n ]”.

[0093] In the reverse adder, for the j-th binary number (j=1, 2, ..., M) in the original digital signal, the tactile code segments generated by each sensor node are superimposed, and the resulting superimposed signal can be expressed as:

[0094] [a1+b1+c1+…k1,…,a n +b n +c n +…+kn ]

[0095] Among them, a i The i-th element in the tactile encoding segment generated for sensor node 1, b i The i-th element in the tactile encoding segment generated for sensor node 2, c i The i-th element, ..., k-th element in the tactile encoding segment generated for sensor node 3 i The i-th element in the tactile code segment generated for sensor node N, where i = 1, 2, 3, ..., n.

[0096] After the superposition signal is acquired at the decoding end, the superposition signal is split into M superposition signal segments, and each superposition signal segment is further split into N sampling points in time sequence. The values ​​represented by the N sampling points are a1+b1+c1+…k 1、 a2+b2+c2+…k2,…and a n +b n +c n +…+k n , the values ​​represented by N sampling points constitute the decoding vector, which is expressed as [a1+b1+c1+…k1,…,a n +b n +c n +…+k n ].

[0097] The inner product calculation of the decoding vector and the encoding vector of each sensor node is performed. The inner product calculation process of each sensor node under this superimposed signal segment can be expressed as:

[0098] Sensor node 1: (a1+b1+c1+…k1)A1+(a2+b2+c2+…k2)A2+…+(a n +b n +c n +…k n )A n ;

[0099] Sensor node 2: (a1+b1+c1+…k1)B1+(a2+b2+c2+…k2)B2+…+(a n +b n +c n +…k n )B n ;

[0100] …

[0101] Sensor node n: (a1+b1+c1+…k1)K1+(a2+b2+c2+…k2)K2+…+(a n +b n +cn +…k n )K n ;

[0102] For each sensor node, if the inner product value corresponding to the superimposed signal segment is positive, the decoding result component corresponding to this superimposed signal segment is 1; if the inner product value corresponding to the superimposed signal segment is negative, the decoding result component corresponding to this superimposed signal segment is 0.

[0103] The decoding result components corresponding to the M superimposed signal segments are combined into a decoding result vector according to the positions of the superimposed signal segments in the superimposed signal. The digital sequence of this vector is the decoded digital signal of this node.

[0104] For example: if the decoding result vector of sensor node 1 is [1, 1, 0, 1, 0, 0, 1, 1, 0, 0], the 12-bit decoded digital signal of sensor node 1 is 110100101100.

[0105] In order to more clearly illustrate the scalable single-line signal acquisition system of the invention, various tactile array structure schematics based on this system are shown according to the present invention, such as Figure 4 As shown in the figure, the black balls represent N distributed sensor nodes, each of which is connected and outputs signals via a single signal lead. Due to the freedom of the lead structure, the tactile sensor array can be designed into any structure based on the loading area and conformal requirements, no longer limited to a P×P square array. Furthermore, the number of sensor nodes can be expanded to any number simply by redefining the encoding signal with the corresponding number of bits, without changing the number of leads. Furthermore, the acquisition speed does not decrease rapidly as the number of sensor nodes increases, as in the traditional time-domain scanning architecture.

[0106] The above specific embodiments are used to illustrate the present invention rather than to limit the present invention. Any modifications and changes made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

[0107] The above are only preferred embodiments of the present invention, so all equivalent changes or modifications made according to the structure, features and principles of the patent application scope of the present invention are included in the scope of the patent application of the present invention.

Claims

1. A scalable single-line signal acquisition method for large-area tactile perception of intelligent robots, characterized by: The method comprises the following steps: S1) configuring N basic coding signals for each of the N sensor nodes, collecting and obtaining a tactile force signal corresponding to each of the sensor nodes using each of the sensor nodes, and then generating N tactile coding signals according to the tactile force signals corresponding to the N sensor nodes; The process of generating a tactile coding signal according to the tactile force signal corresponding to each sensor node is as follows: first, an analog voltage signal is generated according to the tactile force signal, then the analog voltage signal is converted into an original digital signal, and finally, the original digital signal is encoded into a tactile coding signal using the basic coding signal corresponding to the sensor node; S2) using an inverting adder to perform addition calculation on the N tactile coding signals to obtain a superposition signal; S3) decoding the superimposed signal according to the basic coding signal corresponding to each sensor node to obtain a decoded digital signal corresponding to each sensor node, the decoded digital signal corresponding to the original digital signal, and finally using the decoded digital signal corresponding to each sensor node as the expandable single-line signal acquisition result.

2. The scalable single-line signal acquisition method for large-area tactile perception of intelligent robots according to claim 1 is characterized by: In step S1), the basic coding signals corresponding to all sensor nodes are digital pulse signals having the same period, the same pulse length, and the same pulse amplitude; the basic coding signal corresponding to each sensor node has N minimum components, each minimum component represents a binary digit, and the binary digits represented by all minimum components constitute a binary coding vector corresponding to the sensor node, and the binary coding vectors corresponding to all sensor nodes are different and orthogonal to each other; In step S1), the original digital signal corresponding to each sensor node represents a binary digital string mainly composed of M-bit binary digits; in step S3), the decoded digital signal corresponding to each sensor node represents a binary digital string mainly composed of M-bit binary digits.

3. The scalable single-line signal acquisition method for large-area tactile perception of intelligent robots according to claim 2 is characterized by: In step S1), the process of encoding the original digital signal into the tactile coding signal using the basic coding signal corresponding to the sensor node is specifically as follows: encoding the M-bit binary digits represented by the original digital signal according to the basic coding signal corresponding to the sensor node, thereby generating M tactile coding segments; then, sequentially splicing the M tactile coding segments from high to low bits to generate a tactile coding signal, wherein the tactile coding signal corresponding to the sensor node is a digital pulse signal having M·N minimum components; The process of encoding each binary digit and generating a corresponding tactile coding segment is as follows: if the binary digit is 0, an inverted basic coding signal is generated as the tactile coding segment; if the binary digit is 1, a basic coding signal is generated as the tactile coding segment.

4. The scalable single-line signal acquisition method for large-area tactile perception of intelligent robots according to claim 2, characterized in that: The process of step S3) is specifically as follows: S3.1) Splitting the superimposed signal in time sequence according to the period of the basic coded signal to obtain M superimposed signal segments; S3.2) Each superimposed signal segment is further time-sequenced to obtain N sampling points and their corresponding sampling values, and the sampling values ​​corresponding to each sampling point are combined into a decoding vector according to the position of the sampling point in the superimposed signal segment; S3.3) Calculate a decoded digital signal corresponding to each sensor node by combining the decoding vectors corresponding to the M superimposed signal segments and the binary encoding vector represented by the base encoding signal corresponding to each sensor node; The process of calculating and obtaining the decoded digital signal corresponding to each sensor node is specifically as follows: performing inner product of the decoding vector corresponding to each superimposed signal segment with the binary encoding vector to obtain the inner product value corresponding to each superimposed signal segment, and obtaining the corresponding decoding result component according to the inner product value corresponding to each superimposed signal segment; combining the decoding result components corresponding to each superimposed signal segment into a decoding result vector according to the position of the superimposed signal segment in the superimposed signal, and generating the decoded digital signal corresponding to the sensor node according to the decoding result vector; The process of obtaining the corresponding decoding result component according to the inner product value corresponding to each superimposed signal segment is specifically as follows: if the inner product value corresponding to the superimposed signal segment is positive, the decoding result component corresponding to the superimposed signal segment is 1; if the inner product value corresponding to the superimposed signal segment is negative, the decoding result component corresponding to the superimposed signal segment is 0.

5. A scalable single-line signal acquisition system for use in the scalable single-line signal acquisition method according to any one of claims 1 to 4, characterized in that: The invention comprises a signal encoding end for collecting N tactile force signals and generating N tactile coding signals; the signal encoding end comprises N distributed sensing nodes, each sensing node corresponds to a basic coding signal, and each sensing node is used to collect the tactile force signal and generate the corresponding tactile coding signal; It includes a single-line transmission channel for receiving tactile coding signals from N sensor nodes and superimposing all the tactile coding signals to generate a superimposed signal; It includes a decoding end for receiving the superimposed signal and decoding the superimposed signal according to the basic coding signal corresponding to each sensor node to obtain a decoded digital signal corresponding to each sensor node.

6. The expandable single-line signal acquisition system according to claim 5, characterized in that: The sensing node is mainly composed of a tactile sensing unit, a node AD acquisition chip and a signal encoder; the tactile sensing unit is used to collect tactile force signals and generate analog voltage signals based on the tactile force signals; the node AD acquisition chip is used to receive the analog voltage signal and convert the analog voltage signal into an original digital signal, and the input end of the node AD acquisition chip is connected to the output end of the tactile sensing unit; the signal encoder is used to receive the original digital signal, encode the original digital signal into a tactile coding signal using the basic coding signal corresponding to the sensing node, and output the tactile coding signal to a single-line transmission channel; the input end of the signal encoder is connected to the output end of the node AD acquisition chip, and the output end of the signal encoder is connected to the single-line transmission channel.

7. The expandable single-line signal acquisition system according to claim 5, characterized in that: The single-line transmission channel includes an inverting adder and a signal transmission lead; the signal transmission lead is used to respectively receive the tactile coding signals corresponding to each sensor node and transmit them to the inverting adder, and the output end of each sensor node is connected to the signal transmission lead; the inverting adder is used to perform addition calculations on N tactile coding signals, obtain a superimposed signal and output it to the decoding end; the input end of the inverting adder is connected to the output end of the signal transmission lead, and the output end of the inverting adder is connected to the decoding end.

8. The expandable single-line signal acquisition system according to claim 7, characterized in that: The signal transmission lead passes through the location of each sensor node in sequence according to a preset route and is connected to the output end of the sensor node, and finally connected to the input end of the inverting adder.

9. The expandable single-line signal acquisition system according to claim 5, characterized in that: The decoding end includes a reverse decoder, which includes an AD acquisition chip. The reverse decoder collects the superimposed signal through the AD acquisition chip and splits the superimposed signal into M superimposed signal segments. Each superimposed signal segment is then time-sequentially split to obtain N sampling points and sampling values ​​corresponding to each sampling point. A decoding vector is obtained based on the N sampling points and the sampling values ​​corresponding to each sampling point. The decoding vector is combined with the binary coding vector corresponding to each sensor node to calculate the decoded digital signal corresponding to each sensor node.

10. An application of the expandable single-line signal acquisition system according to any one of claims 5 to 9, characterized in that: Used for tactile perception of intelligent robots.

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